A shuttle scheduling method, device and scheduling control system

Abstract

The application provides a shuttle scheduling method and device and a scheduling control system, and relates to the technical field of shuttle scheduling. The method comprises the following steps: obtaining target task information and equipment information of at least one shuttle in a target storage bin. The target task information carries identification information of a target area corresponding to a to-be-executed task. The target storage bin comprises at least two storage areas. Each storage area comprises at least one sub-storage area. There is at most one shuttle in one sub-storage area. The target area is one of the sub-storage areas. The equipment information comprises position information and / or state information. Whether there is a target shuttle capable of processing the to-be-executed task in the target storage bin is determined according to the target task information and the equipment information. If there is a target shuttle in the target storage bin, the target shuttle is scheduled to execute the to-be-executed task in the target area. The present scheme solves the problem that collisions easily occur when multiple shuttles simultaneously execute tasks in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shuttle scheduling, in particular to a shuttle scheduling method, device and scheduling control system. BACKGROUND

[0002] With the economy of China entering the stage of transformation and upgrading, the automatic warehousing industry has developed rapidly. At the same time, under the background of the era of artificial intelligence and big data, intelligent warehousing has become the development trend of the industry.

[0003] Among them, the multi-depth shuttle warehousing system as a new type of intelligent warehousing system integrating warehousing, distribution, management and other functions, due to its high storage density and high space utilization, has been widely used in enterprises.

[0004] The shuttle as the task execution equipment of the system can move in the main road and shelf lane of the multi-depth storage area to perform tasks such as warehousing, warehousing, and warehouse transfer. However, when multiple shuttles perform tasks in the warehouse at the same time, shuttle collision problems caused by overlapping travel paths are prone to occur. SUMMARY

[0005] The present application provides a shuttle scheduling method, device and scheduling control system, which solves the problem of collision when multiple shuttles perform tasks at the same time.

[0006] In a first aspect, embodiments of the present application provide a shuttle scheduling method, comprising:

[0007] Obtaining target task information and device information of at least one shuttle in a target storage warehouse, wherein the target task information carries identification information of a target area corresponding to a to-be-executed task, the target storage warehouse includes at least two storage areas, each storage area includes at least one sub-storage area, and at most one shuttle is in each sub-storage area, the target area is one of the sub-storage areas, and the device information includes position information and / or state information.

[0008] According to the target task information and the device information, it is judged whether there is a target shuttle in the target storage warehouse that can handle the to-be-executed task.

[0009] If the target storage warehouse has the target shuttle, the target shuttle is scheduled to execute the to-be-executed task in the target area.

[0010] In a second aspect, embodiments of the present application provide a shuttle scheduling device, comprising:

[0011] An acquisition module is configured to acquire target task information and device information of at least one shuttle vehicle in a target storage bin, wherein the target task information carries identification information of a target area corresponding to a to-be-executed task, the target storage bin comprises at least two storage areas, each storage area comprises at least one sub-storage area, and at most one shuttle vehicle is in each sub-storage area, the target area is one of the sub-storage areas, and the device information comprises position information and / or state information.

[0012] A processing module is configured to determine whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the target task information and the device information.

[0013] A scheduling module is configured to schedule the target shuttle vehicle to execute the to-be-executed task in the target area if the target shuttle vehicle exists in the target storage bin.

[0014] In a third aspect, an embodiment of the present application provides a scheduling control system, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the shuttle vehicle scheduling method according to the first aspect when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the shuttle vehicle scheduling method according to the first aspect when executed by a processor.

[0016] The above technical solution of the present application has the following advantages:

[0017] In the embodiment of the present application, the target storage bin comprises at least two storage areas, each storage area comprises at least one sub-storage area, and at most one shuttle vehicle is in each sub-storage area. Through the target task information, the target area (one of the sub-storage areas) corresponding to the to-be-executed task can be obtained. Through the device information of the shuttle vehicle, the state (for example, working / idle) and position of each shuttle vehicle in the target storage bin can be obtained. Therefore, when there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the device information of the shuttle vehicle, one target shuttle vehicle can be reasonably scheduled to execute the to-be-executed task in the target area, so that collision of multiple shuttle vehicles when executing tasks at the same time can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of a shuttle vehicle scheduling method according to an embodiment of the present application is shown.

[0019] Figure 2 A scheduling diagram of a storage bin according to an embodiment of the present application is shown.

[0020] Figure 3 a structural block diagram of a shuttle scheduling device according to an embodiment of the present application;

[0021] Figure 4 a structural block diagram of a scheduling control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] To make the technical problems solved by the present application, technical solutions and advantages clearer, the following will be described in detail with reference to the drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of embodiments of the present application. Therefore, it should be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and configurations are omitted for clarity and conciseness.

[0023] It should be understood that the term "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily mean the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0024] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0025] In addition, the terms "system" and "network" are often used interchangeably herein.

[0026] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0027] First, the related content of the present scheme will be briefly introduced.

[0028] The shuttle vehicle storage system has been widely applied in the storage industry due to its high flexibility and robustness. The shuttle vehicle storage system is mainly composed of conveying lines, elevators, shuttle vehicles and the like, and is usually divided into two operation modes, one of which is a multi-layer system with one shuttle vehicle on each layer, and the other of which is a cross-layer system with one shuttle vehicle on multiple layers. Among them, the multi-layer system has fast response speed and simple scheduling, but the utilization rate of the elevator and the shuttle vehicle is not high when the in-out storage task is not busy, and the storage cost is increased; the cross-layer system can improve the utilization rate of the shuttle vehicle and the elevator under certain conditions, but the shuttle vehicle frequently operates across floors, which easily leads to the reduction of the operation efficiency of the shuttle vehicle, and the collision problem of the shuttle vehicle caused by the overlapping of the travel paths, and also can lead to the high complexity of the scheduling program of the warehouse control system (WCS).

[0029] Specifically, the embodiments of the present application provide a shuttle vehicle scheduling method, device and scheduling control system, which solve the problem that the multiple shuttle vehicles are prone to collision when simultaneously performing tasks in the prior art.

[0030] First embodiment

[0031] As shown in Figure 1 The embodiments of the present application provide a shuttle vehicle scheduling method, which specifically comprises the following steps:

[0032] Step 11: acquiring target task information and device information of at least one shuttle vehicle in a target storage warehouse, wherein the target task information carries identification information of a target area corresponding to a to-be-executed task, the target storage warehouse comprises at least two storage areas, each of the storage areas comprises at least one sub-storage area, there is at most one shuttle vehicle in one of the sub-storage areas, the target area is one of the sub-storage areas, and the device information comprises position information and / or state information.

[0033] Here, the target storage warehouse is a multi-depth three-dimensional warehouse, and the target storage warehouse comprises at least two storage areas. Before step 11, the method can further comprise: dividing each of the storage areas of the target storage warehouse into at least one sub-storage area. In this way, the shuttle vehicles are scheduled by the shuttle vehicle scheduling method of the present application, so that each shuttle vehicle only works in one area, thereby avoiding the collision problem of multiple shuttle vehicles working in one area.

[0034] In this step, the device information of all the shuttle vehicles in the target storage warehouse can be acquired, so as to know the positions and states (for example, working state / idle state) of the shuttle vehicles according to the device information of the shuttle vehicles, so as to further reasonably schedule the shuttle vehicles.

[0035] Step 12: judging whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the target task information and the device information;

[0036] Step 13: if there is the target shuttle vehicle in the target storage bin, dispatching the target shuttle vehicle to execute the to-be-executed task in the target area.

[0037] In this embodiment, the target storage bin includes at least two storage areas, each storage area includes at least one sub-storage area, and at most one shuttle vehicle is in one sub-storage area; the target task information can be used to know the target area (one sub-storage area) corresponding to the to-be-executed task, and the device information of the shuttle vehicle can be used to know the state (for example, working / idle) and position of each shuttle vehicle in the target storage bin. Therefore, when there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin, a target shuttle vehicle can be reasonably dispatched to execute the to-be-executed task in the target area according to the device information of the shuttle vehicle, so as to avoid collision when multiple shuttle vehicles execute tasks at the same time.

[0038] Optionally, the judging whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the target task information and the device information includes: judging whether there is a shuttle vehicle in the target area according to the target task information and the position information of the at least one shuttle vehicle; and if there is a shuttle vehicle in the target area, taking the shuttle vehicle in the target area as the target shuttle vehicle.

[0039] In this embodiment, if there is a shuttle vehicle in the target area (that is, the floor and location area specified in the target task information) corresponding to the to-be-executed task, the to-be-executed task can be directly assigned to the shuttle vehicle in the target area, and it is not necessary to dispatch a shuttle vehicle from other areas. Then, if the shuttle vehicle in the target area is in an idle state, the shuttle vehicle can immediately execute the to-be-executed task; if the shuttle vehicle in the target area is in a working state, the to-be-executed task assigned this time needs to be queued and executed after the shuttle vehicle completes the existing task.

[0040] Optionally, the method further includes: if there is no shuttle vehicle in the target area, judging whether there is a shuttle vehicle in an idle state in the target storage bin; and if there is a shuttle vehicle in an idle state in the target storage bin, taking a shuttle vehicle in an idle state closest to the target area as the target shuttle vehicle according to a nearest principle.

[0041] In this embodiment, if there is no shuttle vehicle in the target area corresponding to the to-be-executed task, a shuttle vehicle in an idle state needs to be dispatched to the target area to execute the to-be-executed task according to the nearest principle. The nearest dispatch of the shuttle vehicle can improve the dispatch efficiency and shorten the dispatch time of the shuttle vehicle.

[0042] Optionally, according to the principle of proximity, the shuttle vehicle closest to the target region in idle state is taken as the target shuttle vehicle, comprising:

[0043] According to the device information, it is judged whether there is a shuttle vehicle in idle state in the storage area where the target region is located; if there is a shuttle vehicle in idle state in the storage area where the target region is located, the shuttle vehicle closest to the target region in idle state in the storage area where the target region is located is taken as the target shuttle vehicle.

[0044] In this embodiment, if there is no shuttle vehicle in the target region corresponding to the task to be executed, it is searched whether there is a shuttle vehicle in idle state in the task floor (i.e. the storage area where the target region is located); if there is, a shuttle vehicle closest to the target region in idle state is dispatched to the target region, and the task to be executed is assigned to the shuttle vehicle, so that the shuttle vehicle can be prevented from frequently working across floors, the efficiency of dispatching the shuttle vehicle is improved, and the dispatching time is saved.

[0045] Optionally, the method further comprises: if there is no shuttle vehicle in idle state in the storage area where the target region is located, a shuttle vehicle closest to the target region in idle state is taken from other storage areas other than the storage area where the target region is located as the target shuttle vehicle.

[0046] It should be noted that if there is no shuttle vehicle in idle state in the storage area where the target region is located, the shuttle vehicle can be dispatched across floors to execute the task to be executed. Here, when the shuttle vehicle needs to be dispatched to work across floors, the elevator can be controlled to dispatch the shuttle vehicle to the corresponding floor.

[0047] In this embodiment, if there is no shuttle vehicle in the target region, and there is also no shuttle vehicle in idle state in the storage area where the target region is located, it can be searched whether there is a shuttle vehicle in idle state from the adjacent storage area of the storage area where the target region is located, and the searching is recursively performed layer by layer until a shuttle vehicle closest to the target region in idle state is found, and the shuttle vehicle is dispatched to the target region, and the task to be executed is assigned to the shuttle vehicle.

[0048] Optionally, the method further comprises: if the target shuttle vehicle does not exist in the target storage bin, the target task information is added to the task queue to be executed.

[0049] That is, if the target shuttle vehicle that can be dispatched to execute the task to be executed does not exist in the target storage bin, the target task information is added to the task queue to be executed, so that the shuttle vehicle can be dispatched to execute the task to be executed when the shuttle vehicle is available later.

[0050] Optionally, the method further comprises: receiving first to-be-executed task information sent by the host computer; and adding the first to-be-executed task information to the to-be-executed task queue.

[0051] Here, when adding the first to-be-executed task information to the to-be-executed task queue, the adding can be performed according to a preset rule, for example, an urgent task can be arranged at a front position in the to-be-executed task queue according to an urgency level of the task, and a task generated later can be arranged at a last position in the to-be-executed task queue according to a generation order of the task, and here, examples are not listed one by one.

[0052] In this embodiment, by maintaining the to-be-executed task queue, the tasks in the to-be-executed task queue can be sequentially dispatched to the shuttles to execute the tasks in the to-be-executed task queue according to the ordering of the tasks in the to-be-executed task queue.

[0053] Optionally, the obtaining of the target task information comprises: obtaining, from the to-be-executed task queue, to-be-executed task information arranged at a first position as the target task information.

[0054] Optionally, the method further comprises:

[0055] obtaining historical operation information of the at least one shuttle;

[0056] According to the historical operation information, selecting N sub-storage areas with operation frequencies greater than a preset value as high-frequency operation areas;

[0057] In a case where the to-be-executed task queue is empty, dispatching a shuttle that has completed charging to a high-frequency operation area without a shuttle.

[0058] It should be noted that when a shuttle has no task to execute, it can be determined whether the shuttle needs to be charged (for example, when the remaining power of the shuttle is lower than a threshold value, it is determined that the shuttle needs to be charged), and if the shuttle needs to be charged, the shuttle can be dispatched to a charging pile position for charging. It can be understood that the charging pile can be arranged near the elevator, so that the shuttle can be dispatched more quickly when the shuttle needs to execute a cross-floor task.

[0059] In this embodiment, the sub-storage area with a higher operation frequency in a period of time can be determined according to the historical operation information. Further, in a case where the to-be-executed task queue is empty, that is, there is no to-be-executed task to be dispatched at present, the shuttle that has completed charging at the charging pile can be dispatched to the high-frequency operation area without a shuttle. In this way, the dispatching demand of the high-frequency operation area for the shuttle can be met, and the dispatching efficiency can be improved.

[0060] The scheme provided by the embodiments of the present application will be specifically illustrated below.

[0061] For example, Figure 2As shown, the cross-floor shuttle vehicle scheduling control system comprises: an upper computer, a WCS control system and execution equipment, and the execution equipment comprises a conveying line, an elevator and a shuttle vehicle. The shuttle vehicle scheduling method of the embodiment of the present application can be implemented based on the WCS control system, which can specifically comprise the following modules:

[0062] A device state monitoring module, mainly responsible for real-time acquisition of the state and accurate position of each execution device;

[0063] A task scheduling module, mainly responsible for acquisition of a to-be-executed task, scheduling analysis of the execution device, and feedback (i.e., reporting the task execution state to the upper computer) of the task execution state;

[0064] A data processing module, which can specifically comprise: an RFID, a laser sensor and a laser reflector, and is mainly responsible for recording the working route of each shuttle vehicle and the working frequency of each sub-storage area in the target storage warehouse, and analyzing which sub-storage area has a high shuttle vehicle working frequency;

[0065] A task configuration module, mainly responsible for addition, removal and upstream and downstream relationship designation of the execution device.

[0066] When the WCS control system receives the task issued by the upper computer, the WCS control system can execute the shuttle vehicle scheduling method provided by the embodiment of the present application to realize shuttle vehicle scheduling, that is, to reasonably plan the task according to the pre-set task scheduling rule and reasonably schedule the shuttle vehicle according to the scheduling rule. Specifically, the WCS control system issues the task to the first-level execution device, the first-level execution device completes the execution and hands over the task to the next-level execution device, until the task is passed to the last-level execution device, and the last-level execution device completes the task and notifies the WCS control system, which feeds back the task completion state to the upper computer.

[0067] In the embodiment of the present application, the target storage warehouse comprises at least two storage areas, each storage area is divided into at least one sub-storage area, and at most only one shuttle vehicle is in one sub-storage area. Through the target task information, the target area (one sub-storage area) corresponding to the to-be-executed task can be known, and through the device information of the shuttle vehicle, the state (e.g., working / idle) and position of each shuttle vehicle in the target storage warehouse can be known. Thus, according to the device information of the shuttle vehicle, when there is a target shuttle vehicle in the target storage warehouse that can process the to-be-executed task, a target shuttle vehicle can be reasonably scheduled to execute the to-be-executed task in the target area, which effectively reduces the complexity of the scheduling program of the WCS control system, avoids collision when multiple shuttle vehicles execute tasks at the same time, and effectively improves the working efficiency.

[0068] Second embodiment

[0069] As Figure 3As shown, the embodiment of the present application provides a shuttle scheduling device 300, which comprises:

[0070] An acquisition module 301 is configured to acquire target task information and equipment information of at least one shuttle in a target storage bin, wherein the target task information carries identification information of a target area corresponding to a to-be-executed task, the target storage bin comprises at least two storage areas, each of the storage areas comprises at least one sub-storage area, at most one shuttle is in each of the sub-storage areas, the target area is one of the sub-storage areas, and the equipment information comprises position information and / or state information.

[0071] A processing module 302 is configured to determine whether there is a target shuttle capable of processing the to-be-executed task in the target storage bin according to the target task information and the equipment information.

[0072] A scheduling module 303 is configured to schedule the target shuttle to execute the to-be-executed task in the target area if the target shuttle exists in the target storage bin.

[0073] In this embodiment, the target storage bin comprises at least two storage areas, each of the storage areas comprises at least one sub-storage area, and at most one shuttle is in each of the sub-storage areas. The target task information can be used to acquire the target area (one of the sub-storage areas) corresponding to the to-be-executed task. The equipment information of the shuttle can be used to acquire the state (for example, working / idle) and position of each shuttle in the target storage bin. Thus, when there is a target shuttle capable of processing the to-be-executed task in the target storage bin, a target shuttle can be reasonably scheduled to execute the to-be-executed task in the target area according to the equipment information of the shuttle, so as to avoid collision of multiple shuttles when the shuttles execute tasks simultaneously.

[0074] Optionally, the processing module 302 comprises:

[0075] A first processing submodule is configured to determine whether there is a shuttle in the target area according to the target task information and the position information of the at least one shuttle.

[0076] A second processing submodule is configured to take the shuttle in the target area as the target shuttle if there is a shuttle in the target area.

[0077] Optionally, the processing module 302 further comprises:

[0078] A third processing submodule is configured to determine whether there is an idle shuttle in the target storage bin if there is no shuttle in the target area.

[0079] The fourth processing submodule is configured to, if there is a shuttle vehicle in an idle state in the target storage bin, select, according to a nearest principle, a shuttle vehicle in an idle state closest to the target region as the target shuttle vehicle.

[0080] Optionally, the fourth processing submodule comprises:

[0081] The first processing unit is configured to determine, according to the device information, whether there is a shuttle vehicle in an idle state in the storage area where the target region is located.

[0082] The second processing unit is configured to, if there is a shuttle vehicle in an idle state in the storage area where the target region is located, select a shuttle vehicle in an idle state closest to the target region in the storage area where the target region is located as the target shuttle vehicle.

[0083] Optionally, the fourth processing submodule further comprises:

[0084] The third processing unit is configured to, if there is no shuttle vehicle in an idle state in the storage area where the target region is located, select, from other storage areas other than the storage area where the target region is located, a shuttle vehicle in an idle state closest to the target region as the target shuttle vehicle.

[0085] Optionally, the device 300 further comprises:

[0086] The task processing module is configured to, if the target shuttle vehicle does not exist in the target storage bin, add the target task information to a to-be-executed task queue.

[0087] Optionally, the device 300 further comprises:

[0088] The information receiving module is configured to receive first to-be-executed task information sent by a host computer.

[0089] The information processing module is configured to add the first to-be-executed task information to the to-be-executed task queue.

[0090] Optionally, the acquisition module 301 comprises:

[0091] The information acquisition submodule is configured to acquire, from the to-be-executed task queue, to-be-executed task information ranked first as the target task information.

[0092] Optionally, the device 300 further comprises:

[0093] The information acquisition module is configured to acquire historical job information of the at least one shuttle vehicle.

[0094] The region determination module is configured to select, according to the historical job information, N sub-storage areas with a job frequency greater than a preset value as high-frequency job areas.

[0095] A vehicle scheduling module is configured to schedule a shuttle vehicle that has completed charging to a high-frequency operation area without a shuttle vehicle when the to-be-executed task queue is empty.

[0096] The second embodiment of the present application is corresponding to the method of the first embodiment, and all the implementation means in the first embodiment are applicable to the embodiment of the shuttle vehicle scheduling device, and the same technical effects can be achieved.

[0097] The third embodiment

[0098] In order to better achieve the above purpose, as shown in the third embodiment of the present application, a scheduling control system is further provided, which comprises: Figure 4

[0099] A processor 400 and a memory 420 connected with the processor 400 through a bus interface, the memory 420 is used to store programs and data used by the processor 400 in operation, and the processor 400 calls and executes the programs and data stored in the memory 420.

[0100] The transceiver 410 is connected with the bus interface, and is used to receive and send data under the control of the processor 400; the processor 400 is used to read the programs in the memory 420 to execute the following steps:

[0101] Obtain target task information and equipment information of at least one shuttle vehicle in a target storage bin, wherein the target task information carries identification information of a target area corresponding to a to-be-executed task, the target storage bin comprises at least two storage areas, each storage area comprises at least one sub-storage area, at most one shuttle vehicle is in one sub-storage area, the target area is one of the sub-storage areas, and the equipment information comprises position information and / or state information.

[0102] According to the target task information and the equipment information, it is judged whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin.

[0103] If the target shuttle vehicle exists in the target storage bin, the target shuttle vehicle is scheduled to execute the to-be-executed task in the target area.

[0104] ​In this embodiment, the target storage bin includes at least two layers of storage areas, each layer of storage areas includes at least one sub-storage area, and at most one shuttle vehicle is present in one sub-storage area; through the target task information, the target area (one sub-storage area) corresponding to the to-be-executed task can be obtained, and through the device information of the shuttle vehicle, the state (for example, working / idle) and position of each shuttle vehicle in the target storage bin can be obtained, so that when the target storage bin has a target shuttle vehicle capable of processing the to-be-executed task according to the device information of the shuttle vehicle, the target shuttle vehicle can be reasonably scheduled to execute the to-be-executed task in the target area, so as to avoid collision when multiple shuttle vehicles execute tasks at the same time.

[0105] In the above embodiment, the target storage bin includes at least two layers of storage areas, each layer of storage areas includes at least one sub-storage area, and at most one shuttle vehicle is present in one sub-storage area; through the target task information, the target area (one sub-storage area) corresponding to the to-be-executed task can be obtained, and through the device information of the shuttle vehicle, the state (for example, working / idle) and position of each shuttle vehicle in the target storage bin can be obtained, so that when the target storage bin has a target shuttle vehicle capable of processing the to-be-executed task according to the device information of the shuttle vehicle, the target shuttle vehicle can be reasonably scheduled to execute the to-be-executed task in the target area, so as to avoid collision when multiple shuttle vehicles execute tasks at the same time. Figure 4 The bus architecture can include any number of interconnecting buses and bridges, and the various circuitry representative of the processor(s) 400 and the memory 420 are linked together by the bus architecture. The bus architecture can also link various other circuitry, which is well known, such as, for example, peripheral devices, voltage regulators, power management circuitry, and the like, thus, no further description will be provided herein. The bus interface provides an interface to the bus architecture. The transceiver 410 can be a plurality of elements, including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium. The user interface 430 can also be an interface to external or internal devices, depending on the terminal, including, but not limited to, a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 400 is responsible for managing the bus architecture and general processing, and the memory 420 can store data used by the processor 400 in executing operations.

[0106] Optionally, when judging whether the target storage bin has a target shuttle vehicle capable of processing the to-be-executed task according to the target task information and the device information, the processor 400 is specifically configured to:

[0107] judging whether there is a shuttle vehicle in the target area according to the target task information and the position information of the at least one shuttle vehicle;

[0108] if there is a shuttle vehicle in the target area, taking the shuttle vehicle in the target area as the target shuttle vehicle.

[0109] Optionally, the processor 400 is further configured to:

[0110] if there is no shuttle vehicle in the target area, judging whether there is an idle shuttle vehicle in the target storage bin;

[0111] if there is an idle shuttle vehicle in the target storage bin, taking the idle shuttle vehicle closest to the target area as the target shuttle vehicle according to the nearest principle.

[0112] Optionally, the processor 400 is configured to, when determining the target shuttle vehicle according to the nearest principle, specifically configured to:

[0113] determining whether there is an idle shuttle vehicle in the storage area where the target area is located according to the device information;

[0114] if there is an idle shuttle vehicle in the storage area where the target area is located, determining the idle shuttle vehicle closest to the target area in the storage area where the target area is located as the target shuttle vehicle.

[0115] Optionally, the processor 400 is further configured to:

[0116] if there is no idle shuttle vehicle in the storage area where the target area is located, determining the idle shuttle vehicle closest to the target area from other storage areas other than the storage area where the target area is located as the target shuttle vehicle.

[0117] Optionally, the processor 400 is further configured to:

[0118] if the target shuttle vehicle does not exist in the target storage bin, adding the target task information to the to-be-executed task queue.

[0119] Optionally, the processor 400 is further configured to:

[0120] receiving first to-be-executed task information sent by the upper computer;

[0121] adding the first to-be-executed task information to the to-be-executed task queue.

[0122] Optionally, the processor 400 is configured to, when obtaining target task information, specifically configured to:

[0123] obtaining the to-be-executed task information ranked first in the to-be-executed task queue as the target task information.

[0124] Optionally, the processor 400 is further configured to:

[0125] obtaining historical task information of the at least one shuttle vehicle;

[0126] selecting N sub-storage areas with a task frequency greater than a preset value as high-frequency task areas according to the historical task information;

[0127] in a case where the to-be-executed task queue is empty, dispatching a shuttle vehicle that has completed charging to a high-frequency task area without a shuttle vehicle.

[0128] It should be noted that the above scheduling control system provided by the embodiments of the present application can realize all the method steps achieved by the above shuttle scheduling method embodiments and achieve the same technical effects, and thus the same parts and beneficial effects of the method embodiments will not be described in detail herein.

[0129] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by instructing the relevant hardware by a computer program including instructions for executing all or part of the steps of the above method, and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0130] In addition, the embodiments of the present application also provide a computer readable storage medium having a computer program stored thereon, which is executed by a processor to implement the steps of the method in the first embodiment as described above. And the same technical effects can be achieved, to avoid repetition, which will not be described here.

[0131] In addition, it should be noted that in the device and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Moreover, the steps of executing the above series of processes can be executed in time sequence according to the order of description, but it is not necessary to be executed in time sequence, and some steps can be executed in parallel or independently of each other. It can be understood by those skilled in the art that all or any steps or components of the method and device of the present application can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices in hardware, firmware, software or combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present application.

[0132] Therefore, the object of the present application can also be achieved by running a program or a set of programs on any computing device. The computing device can be a commonly known general purpose device. Therefore, the object of the present application can also be achieved by merely providing a program product containing program code for implementing the method or device. That is, such a program product also constitutes the present application, and a storage medium storing such a program product also constitutes the present application. Obviously, the storage medium can be any commonly known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present application, obviously, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application. Furthermore, the steps of performing the above series of processes can naturally be executed in time sequence according to the order of description, but do not necessarily have to be executed in time sequence. Some steps can be executed in parallel or independently of each other.

[0133] The above is the preferred embodiment of the present application. It should be pointed out that for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A shuttle dispatching method, characterized in that, The method comprises the following steps: obtaining target task information and equipment information of at least one shuttle vehicle in a target storage bin, wherein the target task information carries identification information of a target area corresponding to a to-be-executed task, the target storage bin comprises at least two storage areas, each storage area comprises at least one sub-storage area, and at most one shuttle vehicle is in each sub-storage area, the target area is one of the sub-storage areas, and the equipment information comprises position information and / or state information; judging whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the target task information and the equipment information; if there is the target shuttle vehicle in the target storage bin, scheduling the target shuttle vehicle to execute the to-be-executed task in the target area; wherein the step of judging whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the target task information and the equipment information comprises: judging whether there is a shuttle vehicle in the target area according to the target task information and the position information of the at least one shuttle vehicle; if there is a shuttle vehicle in the target area, taking the shuttle vehicle in the target area as the target shuttle vehicle.

2. The method of claim 1, wherein, The method further comprises: if there is no shuttle vehicle in the target area, judging whether there is an idle shuttle vehicle in the target storage bin; if there is an idle shuttle vehicle in the target storage bin, taking the idle shuttle vehicle closest to the target area as the target shuttle vehicle according to a nearest principle.

3. The method of claim 2, wherein, Taking the idle shuttle vehicle closest to the target area as the target shuttle vehicle according to the nearest principle comprises: judging whether there is an idle shuttle vehicle in the storage area where the target area is located according to the equipment information; if there is an idle shuttle vehicle in the storage area where the target area is located, taking the idle shuttle vehicle closest to the target area in the storage area where the target area is located as the target shuttle vehicle.

4. The method of claim 3, wherein, The method further comprises: if there is no idle shuttle vehicle in the storage area where the target area is located, taking the idle shuttle vehicle closest to the target area from other storage areas except the storage area where the target area is located as the target shuttle vehicle.

5. The method of claim 1, wherein, The method further comprises: if there is no target shuttle vehicle in the target storage bin, adding the target task information to a to-be-executed task queue.

6. The method of claim 5, wherein, The method further comprises: receiving first to-be-executed task information sent by an upper computer; adding the first to-be-executed task information to the to-be-executed task queue.

7. The method according to claim 5 or 6, characterized in that, The step of obtaining target task information comprises: obtaining to-be-executed task information in the first position from the to-be-executed task queue as the target task information.

8. The method according to claim 5 or 6, characterized in that, The method further comprises: obtaining historical job information of the at least one shuttle vehicle; selecting N sub-storage areas with a job frequency greater than a preset value as high-frequency job areas according to the historical job information; in a case where the to-be-executed task queue is empty, scheduling a shuttle vehicle that has completed charging to a high-frequency job area without a shuttle vehicle.

9. A shuttle vehicle dispatching apparatus characterized by comprising: The method comprises the following steps: An acquisition module is configured to acquire target task information and device information of at least one shuttle vehicle in a target storage bin. The target task information carries identification information of a target area corresponding to a to-be-executed task. The target storage bin includes at least two storage areas. Each storage area includes at least one sub-storage area. At most one shuttle vehicle is in each sub-storage area. The target area is one of the sub-storage areas. The device information includes position information and / or state information. A processing module is configured to determine whether there is a target shuttle vehicle capable of processing the to-be-executed task in the target storage bin according to the target task information and the device information. A scheduling module is configured to schedule the target shuttle vehicle to execute the to-be-executed task in the target area if the target shuttle vehicle exists in the target storage bin. The processing module includes: A first processing submodule is configured to determine whether there is a shuttle vehicle in the target area according to the target task information and the position information of the at least one shuttle vehicle. A second processing submodule is configured to take the shuttle vehicle in the target area as the target shuttle vehicle if the shuttle vehicle exists in the target area.

10. A dispatch control system comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the shuttle vehicle scheduling method according to any one of claims 1 to 8 when executing the computer program.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the shuttle vehicle scheduling method according to any one of claims 1 to 8.

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