A scheduling method and device of a four-way shuttle vehicle, a storage medium and an electronic device

Abstract

The application provides a four-way shuttle vehicle scheduling method and device, a storage medium and an electronic device. The method comprises the following steps: after a target task is obtained, if the number of idle four-way shuttle vehicles is greater than or equal to 2, the target task is divided into N subtasks; the starting point of the first subtask is the same as the starting point of the target task, and the ending point of the Nth subtask is the same as the ending point of the target task; each subtask is allocated an idle four-way shuttle vehicle as a working vehicle; the working vehicle is controlled to execute the corresponding subtask, and the pallets at the starting point of the subtask are transported to the ending point of the subtask. By dividing the target task into N subtasks and executing the subtasks separately, the idle four-way shuttle vehicles are reasonably utilized for transportation, the overall transportation efficiency is improved, and resource idling is avoided. In addition, each working vehicle executes a subtask separately, so that congestion can be avoided.

Description

Technical Field

[0001] This application relates to the field of logistics scheduling, and more specifically, to a scheduling method, apparatus, storage medium, and electronic equipment for a four-way shuttle. Background Technology

[0002] In recent years, with the rapid development of the logistics and warehousing industry, lean warehousing has placed higher demands on automation, digitalization, and intelligence. In order to reduce operating costs, dense warehousing has emerged and been widely used. It is characterized by small footprint, large scale of operation, many types of equipment, large number of equipment, and parallel tasks. However, this has also brought new challenges to the optimization and scheduling of automated warehousing operations.

[0003] High-density storage is a type of automated storage and retrieval system (AS / RS). Its hardware consists of racking systems, four-way shuttles, and elevators. The racking systems store goods, while the four-way shuttles transport them. Driven by wheels on both sides, the four-way shuttles can travel alternately along longitudinal and transverse tracks on the racking system, freely reaching any storage location on the warehouse floor. Combined with elevators for layer-changing operations, this achieves automated storage and retrieval of goods.

[0004] Those skilled in the art have also begun to pay close attention to the rational scheduling of four-way shuttles and how to improve the storage and retrieval efficiency of dense warehouses. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, storage medium, and electronic device for scheduling four-way shuttles, so as to at least partially improve the above-mentioned problems.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0007] In a first aspect, embodiments of this application provide a scheduling method for a four-way shuttle vehicle, applied to a host computer, wherein the host computer is communicatively connected to a four-way shuttle vehicle used for transporting goods in a warehouse, and the method includes:

[0008] After obtaining the target task, determine whether the number of the four-way shuttles that are currently idle is greater than or equal to 2;

[0009] If so, then the target task will be divided into N sub-tasks;

[0010] Wherein, the starting location of the first subtask is the same as the starting location of the target task, the ending location of the i-th subtask is the same as the starting location of the (i+1)-th subtask, and the ending location of the N-th subtask is the same as the ending location of the target task, N≥2, 1≤i≤N-1.

[0011] Assign an idle four-way shuttle to each of the sub-tasks as the work vehicle for the sub-task.

[0012] Control the work vehicle to execute the corresponding sub-task, transporting the palletized goods at the starting position of the sub-task to the ending position of the sub-task.

[0013] Secondly, embodiments of this application provide a scheduling device for a four-way shuttle car, applied to a host computer, wherein the host computer is communicatively connected to a four-way shuttle car used for transporting goods in a warehouse, and the device includes:

[0014] The processing unit is configured to, after obtaining the target task, determine whether the number of the four-way shuttles currently in an idle state is greater than or equal to 2; if so, divide the target task into N sub-tasks; wherein the starting position of the first sub-task is the same as the starting position of the target task, the ending position of the i-th sub-task is the same as the starting position of the (i+1)-th sub-task, the ending position of the N-th sub-task is the same as the ending position of the target task, N≥2, 1≤i≤N-1; and assign one idle four-way shuttle to each sub-task as the working vehicle for the sub-task.

[0015] The control unit is used to control the work vehicle to perform the corresponding sub-task, transporting the palletized goods at the starting position of the sub-task to the ending position of the sub-task.

[0016] Thirdly, embodiments of this application provide a storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method.

[0017] Fourthly, embodiments of this application provide an electronic device, the electronic device comprising: a processor and a memory, the memory being used to store one or more programs; when the one or more programs are executed by the processor, the above-described method is implemented.

[0018] Compared to existing technologies, this application provides a method, apparatus, storage medium, and electronic device for scheduling four-way shuttles. The scheduling method is applied to a host computer, which communicates with the four-way shuttles used for transporting goods in a warehouse. The method includes: after obtaining a target task, determining whether the number of currently idle four-way shuttles is greater than or equal to 2; if so, dividing the target task into N sub-tasks; wherein the starting position of the first sub-task is the same as the starting position of the target task, the ending position of the i-th sub-task is the same as the starting position of the (i+1)-th sub-task, and the ending position of the N-th sub-task is the same as the ending position of the target task, N≥2, 1≤i≤N-1; assigning an idle four-way shuttle to each sub-task as its work vehicle; controlling the work vehicle to execute the corresponding sub-task, transporting the palletized goods at the starting position of the sub-task to the ending position of the sub-task. By breaking down the target task into N sub-tasks and executing them separately, and by making efficient use of multiple idle four-way shuttle vehicles, overall transportation efficiency is improved and resource idleness is avoided. Furthermore, each vehicle performs one sub-task independently, preventing congestion.

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram showing the distribution of waterways and cargo channels provided for embodiments of this application;

[0022] Figure 2 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;

[0023] Figure 3 One of the flowcharts illustrating the scheduling method for a four-way shuttle provided in this application embodiment;

[0024] Figure 4 This is a schematic diagram of subtask division provided in an embodiment of this application;

[0025] Figure 5 A second schematic flowchart illustrating the scheduling method for a four-way shuttle provided in this application embodiment;

[0026] Figure 6 This is a schematic diagram of a scheduling device for a four-way shuttle provided in an embodiment of this application.

[0027] In the diagram: 10-Processor; 11-Memory; 12-Bus; 13-Communication Interface; 301-Processing Unit; 302-Control Unit. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0033] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0035] In this application, the automated racking system is divided into aisles for four-way shuttles and cargo aisles for placing goods. The aisles allow four-way shuttles to move freely in four directions; the cargo aisles allow four-way shuttles to move in both directions, but loaded four-way shuttles are not allowed to pass through the cargo aisles when goods are stored there.

[0036] In one possible scheduling method for four-way shuttles, each task can be considered an indivisible unit. The four-way shuttle can only execute the next task after completing a single task. In single-operation mode, the four-way shuttle completes only one outbound (inbound) task in one cycle; in composite operation mode, the equipment completes both inbound and outbound tasks in one cycle. For example, the picking process consists of one outbound task and one inbound task.

[0037] In one possible implementation, the intensive warehousing system adopts a multi-tasking mode. To ensure the overall efficiency improvement of the four-way shuttle cluster, intensive warehousing operations generally follow a "first-come, first-served" rule. In a warehousing environment with multiple tasks, high concurrency, and numerous heterogeneous devices, operational constraints are complex. Algorithms that pre-allocate warehousing equipment resources and plan paths cannot schedule warehousing equipment in a timely and accurate manner, and the collaborative scheduling of heterogeneous multiple devices becomes increasingly difficult. Since the locations (storage positions) involved in the same batch of inbound and outbound orders are always concentrated in a certain area (e.g., a certain aisle), this application provides two four-way shuttle scheduling solutions to address this situation.

[0038] The first approach, to fully utilize resources, involves dispatching all four-way shuttles to the mission area. However, this would lead to a situation where all four-way shuttles operate in the same area for a certain period. This can easily cause congestion and significantly reduce efficiency.

[0039] The second approach, to avoid congestion and deadlock, assigns a specific order to vehicles to perform tasks. In this case, other four-way shuttles and elevators experience unnecessary idle waiting, resulting in wasted resources and impacting the overall system throughput.

[0040] Both of the above solutions have obvious drawbacks and fail to solve the problems of wasted resources for four-way shuttle buses and efficiency losses caused by congestion from multiple vehicles operating in the same area.

[0041] Please refer to Figure 1 , Figure 1 This is a schematic diagram showing the distribution of waterways and cargo channels provided in an embodiment of this application. (See attached diagram.) Figure 1 As shown, the waterway consists of points that allow four-way traffic (circular points in the diagram; these points can be used as cargo locations or not), while the cargo lane can consist of cargo locations that allow two-way traffic (square points in the diagram). Figure 1 As shown, if two adjacent points or storage locations are connected, there is a connecting path between them; otherwise, they are not connected. In one possible scenario, some storage locations within the aisles may be impassable, such as the squares filled with triangles in the diagram.

[0042] To fully utilize the equipment resources of densely populated warehouses and improve their transportation efficiency and overall throughput while avoiding congestion caused by multiple vehicles operating in the same area, this application provides a scheduling system. This system includes a host computer, a certain number of four-way shuttles, and a certain number of elevators. The host computer communicates with the four-way shuttles and elevators, and can control them. In this scheduling system, only one four-way shuttle is allowed to work in each lane at any given time, preventing idle shuttles from blocking the lanes.

[0043] When the dispatch system needs to transfer palletized goods from storage location A to storage location B, the host computer can control the elevator to vertically transfer the palletized goods from storage location A to the corresponding A1 connecting storage location. The A1 connecting storage location can serve as the starting point for the four-way shuttle. The host computer then controls the four-way shuttle to transfer the palletized goods from this starting point (A1 connecting storage location) to the corresponding ending storage location, namely the B1 connecting storage location corresponding to storage location B. The host computer can also control the elevator to vertically transfer the palletized goods from the B1 connecting storage location to storage location B. Therefore, transferring palletized goods from the A1 connecting storage location to the B1 connecting storage location is the task that the four-way shuttle needs to perform.

[0044] To make reasonable use of idle four-way shuttles and avoid resource waste and operational blockage, this application provides a scheduling method for four-way shuttles, which is applied to the host computer of the scheduling system to improve transportation efficiency in warehouses and increase overall throughput.

[0045] This application provides an electronic device that can serve as the host computer mentioned above. This electronic device can be a mobile phone, computer, server, etc. Please refer to... Figure 2 This is a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12. The processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11.

[0046] Processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the four-way shuttle scheduling method can be completed through integrated logic circuits in the hardware or software instructions within processor 10. Processor 10 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0047] The memory 11 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0048] Bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 2 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus 12 or one type of bus 12.

[0049] The memory 11 is used to store programs, such as the program corresponding to the scheduling device of the four-way shuttle. The scheduling device of the four-way shuttle includes at least one software functional module that can be stored in the memory 11 in the form of software or firmware or embedded in the operating system (OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the scheduling method of the four-way shuttle.

[0050] The electronic device provided in this application embodiment may also include a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus. For example, it can communicate with a four-way shuttle or a hoist via the communication interface 13.

[0051] It should be understood that, Figure 2 The structure shown is only a partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown. Figure 2 The components shown can be implemented using hardware, software, or a combination thereof.

[0052] The four-way shuttle scheduling method provided in this application embodiment can be applied to, but is not limited to, [various applications]. Figure 2 For the specific procedures of the electronic devices shown, please refer to [link / reference]. Figure 3 The scheduling methods for the four-way shuttle include: S103, S104, S105, S106, and S107, which are described in detail below.

[0053] S103: After obtaining the target task, determine whether the number of currently idle four-way shuttles is greater than or equal to 2. If yes, proceed to S104; otherwise, proceed to S107.

[0054] If the number of idle four-way shuttles is less than 2 (i.e., 1 or 0), and the target task is split, there won't be enough shuttles to execute the corresponding subtasks, causing the target task to fail. Therefore, when the number of idle four-way shuttles is less than 2, execute S107.

[0055] Conversely, if the number of four-way shuttles currently in an idle state is greater than or equal to 2, in order to improve the efficiency of completing the target task and avoid too many four-way shuttles being in an idle state, resulting in wasted resources, S104 can be executed.

[0056] S104, break down the target task into N sub-tasks.

[0057] In this system, the starting location of the first subtask is the same as the starting location of the target task, the ending location of the i-th subtask is the same as the starting location of the (i+1)-th subtask, and the ending location of the N-th subtask is the same as the ending location of the target task. N ≥ 2, 1 ≤ i ≤ N-1, and N ≤ the number of four-way shuttles currently in an idle state.

[0058] S105 assigns an idle four-way shuttle to each subtask as its work vehicle.

[0059] S106, control the work vehicle to execute the corresponding sub-task, transport the palletized goods at the starting position of the sub-task to the ending position of the sub-task.

[0060] In this application, the target task is broken down into N sub-tasks and executed separately. Multiple idle four-way shuttle vehicles are utilized for transportation, improving overall transportation efficiency and preventing resource idleness. Furthermore, each vehicle executes one sub-task independently, avoiding congestion.

[0061] S107, control the currently idle four-way shuttle to perform the target task, transport the palletized goods at the starting position of the target task to the ending position of the target task.

[0062] In summary, this application provides a scheduling method for four-way shuttles, applied to a host computer. The host computer communicates with the four-way shuttles used for transporting goods in a warehouse. The method includes: after obtaining a target task, determining whether the number of currently idle four-way shuttles is greater than or equal to 2; if so, dividing the target task into N sub-tasks; wherein the starting position of the first sub-task is the same as the starting position of the target task, the ending position of the i-th sub-task is the same as the starting position of the (i+1)-th sub-task, and the ending position of the N-th sub-task is the same as the ending position of the target task, N≥2, 1≤i≤N-1; allocating an idle four-way shuttle to each sub-task as the sub-task's work vehicle; controlling the work vehicle to execute the corresponding sub-task, transporting the palletized goods at the starting position of the sub-task to the ending position of the sub-task. By breaking down the target task into N sub-tasks and executing them separately, and by making efficient use of multiple idle four-way shuttle vehicles, overall transportation efficiency is improved and resource idleness is avoided. Furthermore, each vehicle performs one sub-task independently, preventing congestion.

[0063] In one alternative implementation, the target task needs to be executed multiple times. After each vehicle transports the palletized goods from the starting location of the corresponding sub-task to the ending location of the sub-task, it returns to the starting location of the corresponding sub-task to repeat the next sub-task. The shorter time for the vehicle corresponding to the i-th sub-task to retrieve the goods from the starting location of the target task can reduce the waiting time for the lifting machine, thereby improving the overall handling efficiency.

[0064] exist Figure 3 Based on this, for the content in S104, this application embodiment also provides an optional implementation method. Please refer to the following: S104, the target task is divided into N sub-tasks, including: S104-1, S104-2, S104-3, S104-4, S104-5 and S104-6, which are described in detail below.

[0065] S104-1, when the target distance is greater than M times the preset distance threshold and less than M+1 times the preset distance threshold, if the number of four-way shuttles currently in an idle state is greater than or equal to M+1, the target line is divided into M+1 equally divided segments.

[0066] Wherein, the target distance is the Manhattan distance from the starting location of the target task to the ending location of the target task, and the target connection is the line connecting the starting location of the target task to the ending location of the target task, M = N-1.

[0067] Optionally, the decision to divide into subtasks can be based on the target distance. If the target distance is small, the ratio of loading / unloading time to total handling time is large, making subtask division unnecessary. However, too many subtasks would increase loading / unloading time, resulting in a large ratio of loading / unloading time to total handling time and impacting overall efficiency. Therefore, this application introduces a distance threshold concept. Given a sufficient number of idle four-way shuttles, the number of subtasks is determined based on this distance threshold.

[0068] S104-2, determine the transit cargo locations corresponding to the M equally divided points.

[0069] Among them, the dividing point is the intersection of two adjacent dividing line segments, the transit location is any empty location in the transit area corresponding to the dividing point, and the transit area is the cargo channel that is closest to the dividing point and has an empty location.

[0070] S104-3, N sub-tasks are determined based on the starting location of the target task, the ending location of the target task, and M transit locations.

[0071] In this context, the i-th transit location serves as both the destination location of the i-th subtask and the starting location of the (i+1)-th subtask, where 1 ≤ i ≤ N-1. The starting location of the 1st subtask is the same as the starting location of the target task, the destination location of the i-th subtask is the same as the starting location of the (i+1)-th subtask, and the destination location of the Nth subtask is the same as the destination location of the target task. Based on this, the starting and ending locations for each subtask can be determined, thus allowing the target task to be divided into N subtasks.

[0072] S104-4, when the target distance is greater than M times the preset distance threshold and less than M+1 times the preset distance threshold, if the number K of the four-way shuttle currently in an idle state is less than M+1, the target connection line is divided into K equal segments.

[0073] Wherein, the target distance is the Manhattan distance from the starting location of the target task to the ending location of the target task, the target connection is the line connecting the starting location of the target task to the ending location of the target task, and K = N.

[0074] For example, if K=2 and M=2, based on S104-1, the target line needs to be divided into 3 (M+1) equal segments. Obviously, the 2 (K) four-way shuttles that are currently idle cannot execute the 3 sub-tasks simultaneously. This division will cause the target task to fail.

[0075] Therefore, in this application, when the number of currently idle four-way shuttles is insufficient (the number of currently idle four-way shuttles K is less than M+1), the sub-tasks are divided based on the number of currently idle four-way shuttles. This ensures the normal execution of the target task while avoiding idle four-way shuttles.

[0076] S104-5, determine the transit cargo locations corresponding to K-1 equally divided points.

[0077] Among them, the dividing point is the intersection of two adjacent dividing line segments, the transit location is any empty location in the transit area corresponding to the dividing point, and the transit area is the cargo channel that is closest to the dividing point and has an empty location.

[0078] S104-6, N sub-tasks are determined based on the starting location of the target task, the ending location of the target task, and K-1 intermediate locations.

[0079] The i-th transit location is the destination location of the i-th subtask and the starting location of the (i+1)-th subtask, where 1≤i≤N-1.

[0080] Regarding how to divide subtasks, this application also provides an optional implementation method, please refer to... Figure 4, Figure 4 This is a schematic diagram of subtask division provided in an embodiment of this application. When it is necessary to divide the target task into N subtasks, it means that the target line needs to be divided into N equally divided line segments. For example... Figure 4 As shown, assume the starting location for the target task is P1 and the ending location is P2. The cargo channel corresponding to the starting location P1 is Q1, and the cargo channel corresponding to the ending location P2 is Q2.

[0081] First, obtain the target distance, which is the Manhattan distance from the starting location to the ending location of the target task. The figure shows the length of the target line L. Based on the target distance, the preset distance threshold, and the number of currently idle four-way shuttles, the value of N can be determined. For example, when executing S104-1, N = M + 1; when executing S104-4, N = K. Figure 4 The example of N=2 is provided for illustration, but it is not intended to be limiting. Please refer to further information. Figure 4 When N=2, it's equivalent to dividing the target line L into two equal segments. The dividing point is the intersection of the two segments, which can be understood as the midpoint of the target line L. The cargo lane closest to the dividing point and with an empty cargo location is designated as the transit area (also called a transit cargo lane). Furthermore, any empty cargo location within the transit area corresponding to the dividing point can be designated as a transit location (e.g., ...). Figure 4 (P3 in the text). After determining all transit locations, N sub-tasks are determined based on the starting location of the target task, the ending location of the target task, and the obtained transit locations.

[0082] Please continue to refer to this. Figure 4 The starting location for the first subtask is P1, and the ending location is P3. The starting location for the second subtask is P3, and the ending location is P2. Four-way shuttle V1 serves as the work vehicle for the first subtask, and four-way shuttle V2 serves as the work vehicle for the second subtask. Four-way shuttle V1 moves the palletized goods from P1 to P3, and four-way shuttle V2 moves the palletized goods from P3 to P2, thus completing the target task.

[0083] exist Figure 3 Based on this, regarding how to determine whether a task to be executed needs to be split, i.e., whether it is a target task, this application embodiment also provides an optional implementation method, please refer to... Figure 5 The scheduling methods for the four-way shuttle also include S101 and S102, which are described in detail below.

[0084] S101, when a task to be executed is obtained, the first distance value is acquired.

[0085] The first distance value is the Manhattan distance between the starting location and the ending location of the task to be performed. The first distance value is... Figure 4 The length of the continuous target L in the diagram.

[0086] S102, if the first distance value is greater than the preset distance threshold, then the task to be executed is determined as the target task.

[0087] Optionally, S103 can be executed after S102. If the first distance value is less than the preset distance threshold, there is no need to divide the task into subtasks; they can be executed uniformly.

[0088] exist Figure 3 Based on the above, regarding the content in S105, this application embodiment also provides an optional implementation method, please refer to the following: S105, assign an idle four-way shuttle car to each sub-task as the sub-task's work vehicle, including: S105-1, which is described in detail below.

[0089] S105-1, the four-way shuttle car that is closest to the starting point of the sub-task and is in an idle state will be used as the sub-task's work vehicle.

[0090] By allocating work vehicles by distance, we can ensure that the work vehicles can reach the corresponding cargo lanes of the sub-tasks as quickly as possible for handling, thereby ensuring overall transportation efficiency.

[0091] It should be noted that adjacent tasks often involve moving the same batch of goods in the same cargo lane. In order to simplify the processing and improve the efficiency of sub-task determination, this application embodiment also provides an optional implementation method. Please refer to the following: the scheduling method of the four-way shuttle also includes: S201, S202 and S203, which are described in detail below.

[0092] S201, after the j-th target task is completed, if a new j+1-th target task is obtained, determine whether the first condition and the second condition are true.

[0093] The first condition is that the starting location of the (j+1)th target task and the starting location of the jth target task belong to the same cargo lane, and the second condition is that the ending location of the (j+1)th target task and the ending location of the jth target task belong to the same cargo lane.

[0094] S202, if both conditions are met, then change the starting location of the first subtask corresponding to the j-th target task to the starting location of the (j+1)-th target task, change the ending location of the N-th subtask corresponding to the j-th target task to the ending location of the (j+1)-th target task, and leave the remaining subtasks corresponding to the j-th target task unchanged, so as to obtain the N subtasks corresponding to the (j+1)-th target task.

[0095] S203, control the work vehicle to execute the sub-task corresponding to the (j+1)th target task, and transport the palletized goods at the starting position of the sub-task to the ending position of the sub-task.

[0096] It should be noted that the work vehicle corresponding to the i-th subtask of the j-th target task is the same as the work vehicle corresponding to the i-th subtask of the (j+1)-th target task.

[0097] Please see Figure 6 , Figure 6 The present application provides a four-way shuttle scheduling device, which is optionally applied to the electronic device described above.

[0098] The scheduling device for the four-way shuttle includes a processing unit 301 and a control unit 302.

[0099] Processing unit 301 is used to determine, after obtaining the target task, whether the number of currently idle four-way shuttles is greater than or equal to 2; if so, the target task is divided into N sub-tasks; wherein the starting position of the first sub-task is the same as the starting position of the target task, the ending position of the i-th sub-task is the same as the starting position of the (i+1)-th sub-task, the ending position of the N-th sub-task is the same as the ending position of the target task, N≥2, 1≤i≤N-1; and an idle four-way shuttle is assigned to each sub-task as the sub-task's work vehicle.

[0100] The control unit 302 is used to control the work vehicle to perform the corresponding sub-task, transporting the palletized goods at the starting position of the sub-task to the ending position of the sub-task.

[0101] The processing unit 301 is further configured to, after the j-th target task is completed, if a new (j+1)-th target task is obtained, determine whether the first condition and the second condition are met; wherein, the first condition is that the starting location of the (j+1)-th target task and the starting location of the j-th target task belong to the same freight lane, and the second condition is that the ending location of the (j+1)-th target task and the ending location of the j-th target task belong to the same freight lane; if both conditions are met, the starting location of the first sub-task corresponding to the j-th target task is changed to the starting location corresponding to the (j+1)-th target task, the ending location of the N-th sub-task corresponding to the j-th target task is changed to the ending location corresponding to the (j+1)-th target task, and the remaining sub-tasks corresponding to the j-th target task remain unchanged, so as to obtain the N sub-tasks corresponding to the (j+1)-th target task.

[0102] Optionally, the processing unit 301 may execute S101-S105 and S201-S202 as described above, and the control unit 302 may execute S106, S107 and S203 as described above.

[0103] It should be noted that the four-way shuttle scheduling device provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0104] This application also provides a storage medium storing computer instructions and programs, which, when read and executed, perform the four-way shuttle scheduling method described in the above embodiments. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0105] The following describes an electronic device, which may be a mobile phone, a computer, a server, etc. This electronic device is as follows: Figure 2 As shown, the above-described four-way shuttle scheduling method can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which, when executed by the processor 10, execute the four-way shuttle scheduling method of the above embodiment.

[0106] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0107] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for dispatching a four-way shuttle vehicle, the method comprising: receiving a request for a shuttle vehicle; determining a shuttle vehicle to fulfill the request; and dispatching the shuttle vehicle to fulfill the request. The method is applied to an upper computer, the upper computer is in communication connection with a four-way shuttle vehicle used for carrying goods in a warehouse, and the method comprises the following steps: After obtaining a target task, it is determined whether the number of the four-way shuttle vehicles currently in an idle state is greater than or equal to 2; If yes, the target task is split into N sub-tasks; The starting point of the first sub-task is the same as the starting point of the target task, the end point of the i-th sub-task is the same as the starting point of the i+1-th sub-task, the end point of the N-th sub-task is the same as the end point of the target task, N≥2, and 1≤i≤N-1; Each sub-task is allocated an idle four-way shuttle vehicle as a working vehicle of the sub-task; The working vehicle is controlled to execute the corresponding sub-task and transport the pallet goods at the starting point of the sub-task to the end point of the sub-task; The step of splitting the target task into N sub-tasks comprises the following steps: When the target distance is greater than M times of a preset distance threshold and less than (M+1) times of the preset distance threshold, if the number of the four-way shuttle vehicles currently in an idle state is greater than or equal to M+1, the target connecting line is divided into M+1 equal line segments; The target distance is the Manhattan distance from the starting point of the target task to the end point of the target task, the target connecting line is the connecting line between the starting point of the target task and the end point of the target task, and M=N-1; M transfer positions are determined; The transfer position is an intersection position of adjacent two equal line segments, the transfer position corresponds to any one empty goods location in a transfer area closest to the intersection position and having an empty goods location, and the transfer area is a goods aisle closest to the intersection position and having an empty goods location; N sub-tasks are determined based on the starting point of the target task, the end point of the target task and M transfer positions; The i-th transfer position is the end point of the i-th sub-task and the starting point of the i+1-th sub-task, and 1≤i≤N-1.

2. The method of claim 1, wherein, The step of splitting the target task into N sub-tasks comprises the following steps: When the target distance is greater than M times of a preset distance threshold and less than (M+1) times of the preset distance threshold, if the number of the four-way shuttle vehicles currently in an idle state is less than M+1, the target connecting line is divided into K equal line segments; The target distance is the Manhattan distance from the starting point of the target task to the end point of the target task, the target connecting line is the connecting line between the starting point of the target task and the end point of the target task, and K=N; K-1 transfer positions are determined; The transfer position is an intersection position of adjacent two equal line segments, the transfer position corresponds to any one empty goods location in a transfer area closest to the intersection position and having an empty goods location, and the transfer area is a goods aisle closest to the intersection position and having an empty goods location; N sub-tasks are determined based on the starting point of the target task, the end point of the target task and K-1 transfer positions; The i-th transfer location is the end location of the i-th subtask and the start location of the i+1-th subtask, 1≤i≤N-1.

3. The method of claim 1 or 2, wherein, The method further comprises: When a task to be executed is obtained, a first distance value is acquired; The first distance value is the Manhattan distance from the start location of the task to be executed to the end location of the task to be executed. If the first distance value is greater than a preset distance threshold, the task to be executed is determined as the target task.

4. The method of claim 1, wherein, The step of assigning each of the subtasks with a four-way shuttle vehicle in an idle state as a work vehicle of the subtask comprises: The four-way shuttle vehicle closest to the start location of the subtask is assigned as the work vehicle of the subtask.

5. The method of claim 1, wherein, The method further comprises: After the j-th target task is executed, if a new j+1-th target task is obtained; It is determined whether a first condition and a second condition are met; The first condition is that the start location of the j+1-th target task and the start location of the j-th target task belong to the same aisle, and the second condition is that the end location of the j+1-th target task and the end location of the j-th target task belong to the same aisle; If both conditions are met, the start location of the first subtask corresponding to the j-th target task is changed to the start location corresponding to the j+1-th target task, the end location of the N-th subtask corresponding to the j-th target task is changed to the end location corresponding to the j+1-th target task, and the remaining subtasks corresponding to the j-th target task remain unchanged, to obtain N subtasks corresponding to the j+1-th target task.

6. A dispatching device of a four-way shuttle vehicle, characterized by, The device is applied to an upper computer, which is in communication connection with four-way shuttle vehicles used for transporting goods in a warehouse, and comprises: A processing unit is configured to, after a target task is obtained, determine whether the number of four-way shuttle vehicles currently in an idle state is greater than or equal to 2; if yes, the target task is split into N subtasks; wherein the start location of the first subtask is the same as the start location of the target task, the end location of the i-th subtask is the same as the start location of the i+1-th subtask, the end location of the N-th subtask is the same as the end location of the target task, N≥2, and 1≤i≤N-1; each of the subtasks is assigned with a four-way shuttle vehicle in an idle state as a work vehicle of the subtask; A control unit is configured to control the work vehicles to execute the corresponding subtasks and transport the pallets on the start locations of the subtasks to the end locations of the subtasks. The step of splitting the target task into N subtasks comprises: When the target distance is greater than M times of the preset distance threshold and less than (M+1) times of the preset distance threshold, if the number of four-way shuttle vehicles currently in an idle state is greater than or equal to M+1, the target line is divided into M+1 equal line segments. The target distance is the Manhattan distance from the start point of the target task to the end point of the target task, the target line is the line between the start point of the target task and the end point of the target task, and M = N-1. Determine the transfer location corresponding to the M equidivision points; The equidivision point is the intersection of two adjacent equidivision segments, the transfer location is any empty location in the transfer area corresponding to the equidivision point, the transfer area is the closest location to the equidivision point and has an empty location; Based on the start point of the target task, the end point of the target task, and the M transfer locations, determine N subtasks; The i-th transfer location is the end point of the i-th subtask and the start point of the i+1-th subtask, 1≤i≤N-1.

7. The scheduling device of the four-way shuttle vehicle according to claim 6, wherein The processing unit is further configured to, after the j-th target task is completed, determine whether a first condition and a second condition are met if a new j+1-th target task is obtained, the first condition is that the start point of the j+1-th target task and the start point of the j-th target task belong to the same aisle, and the second condition is that the end point of the j+1-th target task and the end point of the j-th target task belong to the same aisle; if both conditions are met, the start point of the first subtask corresponding to the j-th target task is changed to the start point of the j+1-th target task, the end point of the N-th subtask corresponding to the j-th target task is changed to the end point of the j+1-th target task, and the remaining subtasks corresponding to the j-th target task remain unchanged, to obtain N subtasks corresponding to the j+1-th target task.

8. 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 method of any one of claims 1-5.

9. An electronic device, comprising: The computer program is executed by the processor to implement the method of any one of claims 1-5. The computer program is executed by the processor to implement the method of any one of claims 1-5. The computer program is executed by the processor to implement the method of any one of claims 1-5.

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