Material conveying method, material conveying equipment, material conveying system and storage medium

Abstract

The present application discloses a material conveying method, material conveying equipment, material conveying system and storage medium, the method comprising: obtaining the current position and conveying destination of the material to be conveyed; determining at least one initial conveying line from the current position to the conveying destination; respectively obtaining at least two line parameters of each initial conveying line; for each initial conveying line, based on each line parameter of the initial conveying line and its importance, obtaining the conveying score of the initial conveying line; from at least one initial conveying line, selecting the initial conveying line whose conveying score meets the score requirements as the target conveying line; controlling the target conveying line to convey the material to be conveyed. In the above manner, the present application can improve the material conveying efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to a material conveying method, material conveying equipment, a material conveying system and a storage medium. Background Art

[0002] At present, conveyor lines are used to transport materials. Materials are stably transported along the conveying direction on the conveyor lines, which can effectively solve the problem of low efficiency in manual handling and transporting of materials.

[0003] However, currently most materials are transported along a preset fixed path. When there are multiple materials to be transported, transportation congestion will occur, resulting in low transportation efficiency. Summary of the invention

[0004] The present application at least provides a material conveying method, material conveying equipment, material conveying system and storage medium.

[0005] The first aspect of the present application provides a material conveying method, which includes: obtaining the current position and conveying destination of the material to be conveyed; determining at least one initial conveying line from the current position to the conveying destination; respectively obtaining at least two line parameters of each initial conveying line; based on the at least two line parameters of each initial conveying line, selecting a target conveying line from at least one initial conveying line; and controlling the target conveying line to convey the material to be conveyed.

[0006] Therefore, since the target conveyor line is the initial conveyor line whose conveying score meets the score requirements, the target conveyor line is the optimal initial conveyor line dynamically planned by combining at least two line parameters of each initial conveyor line. Therefore, controlling the target conveyor line to convey the material to be conveyed can smoothly and efficiently convey the material to be conveyed and reduce conveyor line congestion.

[0007] Among them, at least two line parameters of the initial conveyor line include at least two of the following: the length of the initial conveyor line, the number of alarm nodes of the initial conveyor line, the current material load of the initial conveyor line, the number of locked nodes of the initial conveyor line, and the number of obstacle avoidance points of the initial conveyor line, wherein the initial conveyor line includes multiple conveying stations, and the conveyor line between different conveying stations is a conveying node. The number of alarm nodes is the number of conveying nodes in the alarm state, and the number of locked nodes is the number of conveying nodes in the locked state. The alarm state indicates that the conveying node has a fault, and the locked state indicates that the conveying node is conveying material.

[0008] Therefore, the line parameters of the initial transmission line can be set flexibly.

[0009] The transport station includes at least one of the following: a pickup platform, a delivery platform, an obstacle avoidance point, and a rotating platform.

[0010] Therefore, the delivery stations of the initial delivery line can be flexibly set.

[0011] Among them, for each of the initial transmission lines, based on the line parameters of the initial transmission line and their importance, a transmission score of the initial transmission line is obtained, including: for each initial transmission line, obtaining the importance of each line parameter of the initial transmission line; using the importance of each line parameter of the initial transmission line, weighted processing is performed on each line parameter of the initial transmission line to obtain the transmission score of the initial transmission line.

[0012] Therefore, for each initial transmission line, a weighted sum is performed using each line parameter of the initial transmission line and its corresponding importance to obtain a transmission score of the initial transmission line.

[0013] Among them, for each initial transmission line, the importance of each line parameter of the initial transmission line is obtained, including: taking each line parameter as a target line parameter respectively; obtaining a comparative importance set of the target line parameters; wherein the comparative importance set of the target line parameters includes the comparative importance of the target line parameters between any two initial transmission lines, and any two initial transmission lines are the same or different initial transmission lines; taking each initial transmission line as a target transmission line respectively, and obtaining the importance of the target line parameters of the target transmission line based at least on the comparative importance of the target line parameters between the target transmission line and each initial transmission line.

[0014] Therefore, by constructing a comparative importance set of target line parameters, the relative importance or superiority relationship of each initial transmission line on the target line parameters can be quantitatively evaluated. In addition, a comparative importance set of different line parameters will be constructed to minimize the difficulty of comparing line parameters of different natures by using relative scales.

[0015] Wherein, the importance of the target line parameters of the target transmission line is obtained at least based on the comparative importance of the target line parameters between the target transmission line and each initial transmission line, including: taking each initial transmission line as a reference transmission line, obtaining the sum of the comparative importance of the target line parameters between each initial transmission line and the reference transmission line; and obtaining the comparative importance of the target line parameters between the target transmission line and the reference transmission line as the comparative importance corresponding to the reference transmission line; obtaining the ratio between the comparative importance corresponding to the reference transmission line and the sum of the comparative importance corresponding to the reference transmission line; obtaining the central tendency statistical value of the ratio corresponding to each initial transmission line as the importance of the target line parameters of the target transmission line.

[0016] Therefore, the importance of the target line parameters of the target transmission line can be determined by combining the sum of the comparative importance of the target line parameters between each initial transmission line and the reference transmission line and the comparative importance of the target line parameters between the target transmission line and the reference transmission line.

[0017] Wherein, before obtaining the importance of target line parameters of the target conveying line based at least on the comparative importance of target line parameters between the target conveying line and each initial conveying line, the material conveying method further includes: performing a consistency check on the comparative importance set of the target line parameters to obtain a check result; wherein the check result is used to characterize whether the comparative importance set of the target line parameters meets the consistency requirement; in response to the comparative importance set of the target line parameters meeting the consistency requirement, obtaining the importance of the target line parameters of the target conveying line based at least on the comparative importance of the target line parameters between the target conveying line and each initial conveying line.

[0018] Therefore, before obtaining the importance of the target line parameters of the target transmission line by using the comparative importance of the target line parameters between the target transmission line and each initial transmission line, a consistency check will be performed on the comparative importance set of the target line parameters to ensure that the comparative importance of the target line parameters between any two initial transmission lines included in the comparative importance set of the target line parameters is reasonable and logically correct, thereby ensuring that the importance of the target line parameters of the target transmission line determined subsequently is reasonable and logically correct.

[0019] Among them, a consistency check is performed on the comparative importance set of the target line parameters to obtain a check result, including: determining a target consistency index based on the comparative importance set of the target line parameters; and determining an average consistency index based on the number of initial transmission lines; and obtaining a check result using the target consistency index and the average consistency index.

[0020] Therefore, the target consistency index and the average consistency index can be combined to determine the consistency check result of the comparative importance set of the target line parameters.

[0021] Wherein, based on the comparative importance set of the target line parameters, the target consistency index is determined, including: obtaining the maximum comparative importance in the comparative importance set of the target line parameters; obtaining a first ratio of the first difference to the second difference as the target consistency index; wherein the first difference is the difference between the maximum comparative importance and the number of initial conveyor lines, and the second difference is the difference between the number of initial conveyor lines and a preset value; and / or, using the target consistency index and the average consistency index, a verification result is obtained, including: obtaining a second ratio of the target consistency index to the average consistency index as the verification result.

[0022] Therefore, the target consistency index can be determined by using the difference between the maximum comparison importance and the number of initial conveyor lines and the difference between the number of initial conveyor lines and a preset value. The consistency check result can be determined by using the ratio of the target consistency index to the average consistency index.

[0023] Among them, the score requirement is the minimum delivery score.

[0024] Therefore, using the initial conveying line with the smallest conveying score to convey the material to be conveyed can convey the material to be conveyed more smoothly and efficiently.

[0025] Among them, the target conveying line includes multiple conveying stations; controlling the target conveying line to convey the material to be conveyed includes: using multiple conveying stations to divide the target conveying line to obtain several sub-conveyor lines; and sequentially controlling the several sub-conveyor lines to convey the material to be conveyed.

[0026] Therefore, after the previous sub-conveyor line has completed conveying the material to be conveyed, or in other words, after the previous conveying sub-task has been completed, the next sub-conveyor line is controlled to convey the material to be conveyed, or in other words, the next conveying sub-task is controlled to be executed.

[0027] Among them, several sub-conveyor lines are controlled in sequence to convey the materials to be conveyed, including: taking each sub-conveyor line as the current sub-conveyor line in sequence; obtaining the line status of the current sub-conveyor line; in response to the line status of the current sub-conveyor line being normal, controlling the current sub-conveyor line to convey the materials to be conveyed.

[0028] Therefore, before controlling the current sub-conveyor line to convey the material to be conveyed, it will be determined whether the current sub-conveyor line is suitable for conveying the material to be conveyed, so as to ensure that the current sub-conveyor line conveys the material to be conveyed smoothly and efficiently.

[0029] Among them, controlling the current sub-conveyor line to transport the material to be transported includes: sending an instruction to the current sub-conveyor line; wherein the sending instruction is used to instruct the current sub-conveyor line to send out the material to be transported; and / or, after receiving the first feedback result sent by the current sub-conveyor line indicating that the transportation is completed, using the next sub-conveyor line as the new current sub-conveyor line, and re-executing the acquisition of the line status of the current sub-conveyor line and its subsequent steps; and / or, the line status includes at least one of the following: an alarm state, a locked state, wherein the alarm state indicates that the current sub-conveyor line has a fault, and the locked state indicates that the current sub-conveyor line is transporting materials.

[0030] Therefore, after sending a command to the current sub-conveyor line, the current sub-conveyor line operates to smoothly and efficiently convey the material to be conveyed. After determining that the current sub-conveyor line has completed conveying the material to be conveyed, it is determined whether the next current sub-conveyor line can efficiently and smoothly convey the material to be conveyed, and after the next current sub-conveyor line can efficiently and smoothly convey the material to be conveyed, the next current sub-conveyor line is controlled to convey. The line status of the current sub-conveyor line can be flexibly set.

[0031] Among them, the material transportation method also includes: in response to the line state of the current sub-conveyor line being abnormal, after a first preset time length, re-executing the acquisition of the line state of the current sub-conveyor line and its subsequent steps, until after a second preset time length, determining that the line state of the current sub-conveyor line is abnormal, and taking the starting conveying station of the current sub-conveyor line as the current position of the material to be conveyed, and re-executing the acquisition of the current position and conveying destination of the material to be conveyed and its subsequent steps; wherein the second preset time length is greater than the first preset time length.

[0032] Therefore, when it is determined that the line status of the current sub-conveyor line is abnormal, the line status of the current sub-conveyor line will be judged again at intervals of the first preset time period whether it is normal or abnormal, until the line status of the current sub-conveyor line is still abnormal after the second preset time period, indicating that the current sub-conveyor line cannot normally and smoothly transport the material to be transported. If the current sub-conveyor line is continuously waited for to become normal and then used to transport the material to be transported, on the one hand, it will affect the timeliness of the transportation of the material to be transported, and on the other hand, it may affect the transportation of other materials and cause transportation congestion. Therefore, at this time, the starting transportation station of the current sub-conveyor line will be used as the current position of the material to be transported, and the conveying line for the material to be transported will be re-planned to transport the material to be transported in a timely and efficient manner.

[0033] Among them, determining at least one initial conveying line from the current position to the conveying destination includes: obtaining at least two feasible conveying lines from the current position to the conveying destination; and obtaining associated size parameters of the material to be conveyed; based on the associated size parameters of the material to be conveyed, selecting at least one feasible conveying line that meets the conveying requirements from at least two feasible conveying lines as the initial conveying line.

[0034] Therefore, the initial conveyor line is a feasible conveyor line that meets the conveying requirements by using the associated size parameters of the material to be conveyed, and the feasible conveyor line is a conveyor line that can convey the material to be conveyed from the current position to the conveying destination. Therefore, the initial conveyor line is matched with the associated size parameters of the material to be conveyed. On the one hand, it can stably convey the material to be conveyed and avoid the material to be conveyed falling off and causing damage to it during the conveying process; on the other hand, it can avoid the material to be conveyed from damaging the conveyor line.

[0035] Among them, the associated dimensional parameters include the first width of the material to be conveyed, and the conveying requirement is: the second width of the feasible conveying line is greater than or equal to the first width of the material to be conveyed; and / or, the material to be conveyed is placed on a pallet for conveyance, and the associated dimensional parameters include the third width of the pallet, and the conveying requirement is: the second width of the feasible conveying line is greater than or equal to the third width of the pallet.

[0036] Therefore, the associated dimensional parameters and conveying requirements can be set flexibly.

[0037] Among them, the transportation task of the material to be transported is an inbound task, the transportation destination includes the loading platform corresponding to the inbound storage location of the material to be transported, and the current position includes the inbound port or any position between the inbound port and the transportation destination; or, the transportation task of the material to be transported is an outbound task, the transportation destination includes the first outbound port, and the current position includes the pickup platform corresponding to the outbound storage location of the material to be transported or any position between the pickup platform and the first outbound port.

[0038] Therefore, by flexibly setting the current location and the delivery destination, the in / out storage of the materials to be transported can be achieved.

[0039] Among them, the transportation task of the material to be transported is an outbound task, and the transportation destination includes a first outbound port, and the first outbound port is one of several second outbound ports; obtaining the transportation destination of the material to be transported includes: obtaining the outbound quantity statistics of each second outbound port; from several second outbound ports, selecting at least one third outbound port whose outbound quantity statistics meet the low outbound quantity condition; selecting a third outbound port as the first outbound port.

[0040] Therefore, since the third exit ports are the exit ports through which the number of materials currently waiting to be shipped is relatively small, any third exit port can be selected as the first exit port for the materials to be transported, so that the materials to be transported can be shipped out more efficiently and smoothly, reducing shipping congestion and improving shipping efficiency.

[0041] Among them, the statistics of the outbound quantity include: the first quantity of materials currently located at the second outbound port, and the third outbound port includes the second outbound port whose first quantity is less than or equal to the first threshold; and / or, the statistics of the outbound quantity include: the second quantity of materials that will be transported to the second outbound port within a third preset time period; the third outbound port includes the second outbound port whose second quantity is less than or equal to the second threshold.

[0042] Therefore, the statistics of the outbound quantity and the second outbound port that meets the requirements can be flexibly set.

[0043] A second aspect of the present application provides a material conveying device, which includes a memory and a processor, the memory stores program instructions, and the processor is used to execute the program instructions to implement the above-mentioned material conveying method.

[0044] A third aspect of the present application provides a material conveying system, which includes material conveying equipment and a conveying line, and the material conveying equipment is the above-mentioned equipment.

[0045] A fourth aspect of the present application provides a computer-readable storage medium, which is used to store program instructions, and the program instructions can be executed to implement the above-mentioned material conveying method.

[0046] The above technical solution obtains the transport score of each initial transport line based on at least two line parameters and their importance of at least one initial transport line from the current position to the transport destination, selects the initial transport line whose transport score meets the score requirements as the target transport line, and controls the target transport line to transport the material to be transported. Therefore, since the target transport line is the initial transport line whose transport score meets the score requirements, the target transport line is the optimal initial transport line dynamically planned in combination with at least two line parameters of each initial transport line, and controls the target transport line to transport the material to be transported, so that the material to be transported can be transported smoothly and efficiently, reducing the congestion of the transport line. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a flow chart of an embodiment of a material conveying method provided by the present application;

[0048] Figure 2 is a schematic diagram of an embodiment of a material conveying system provided by the present application;

[0049] Figure 3 It is a flow chart of an embodiment of a method for obtaining a delivery destination of a material to be delivered provided by the present application;

[0050] Figure 4 yes Figure 1 The flowchart of step S12 is shown as an embodiment;

[0051] Figure 5 It is a flow chart of an embodiment of a method for determining the importance of each line parameter of each initial transmission line provided by the present application;

[0052] Figure 6 yes Figure 1 The flowchart of step S16 is shown as an embodiment;

[0053] Figure 7 yes Figure 6 The flowchart of step S62 is shown as an embodiment;

[0054] Figure 8 It is a structural schematic diagram of an embodiment of a material conveying device provided by the present application;

[0055] Fig. 9 It is a structural schematic diagram of an embodiment of a material conveying device provided by the present application;

[0056] Fig.10 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0057] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0058] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0059] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0060] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of the material conveying method provided in the present application. It should be noted that if there are substantially the same results, this embodiment is not limited to Figure 1 The process sequence shown is limited. Figure 1 As shown, this embodiment includes:

[0061] Step S11: Obtain the current location and delivery destination of the material to be transported.

[0062] In this embodiment, the current position and destination of the material to be transported are obtained to automatically and efficiently transport the material to be transported from the current position to the destination, meeting the requirements of intelligent and efficient transportation. The material type of the material to be transported mentioned in this application is not limited and can be specifically set according to actual use needs.

[0063] For example, in a large-scale unmanned shipping and receiving high-rise warehouse scenario, the current location and destination of the material to be transported can be obtained to transport the material to the destination, so as to meet the needs of efficient and intelligent transportation in the high-rise warehouse scenario.

[0064] In one embodiment, the conveying task of the material to be conveyed is a warehousing task, the conveying destination includes a cargo placement platform corresponding to the warehousing location of the material to be conveyed, and the current position includes the warehousing entrance or any position between the warehousing entrance and the conveying destination. In the case where the conveying task of the material to be conveyed is a warehousing task, the current position is the warehousing entrance, and the conveying destination is a cargo placement platform corresponding to the warehousing location of the material to be conveyed, the current position and conveying destination of the material to be conveyed are obtained to automatically and efficiently convey the material to be conveyed from the warehousing entrance to the cargo placement platform corresponding to the warehousing location, and the subsequent stacker transports the material to be conveyed from the cargo placement platform corresponding to the warehousing location to the warehousing location, thereby realizing the warehousing of the material to be conveyed and improving the warehousing efficiency. If the conveying task of the material to be conveyed is a warehousing task, then the material to be conveyed must be conveyed from the warehousing port to the loading platform corresponding to the warehousing location. However, the subsequent conveyor line may fail or be conveying other materials during the transportation of the material to be conveyed. Therefore, it is necessary to reselect the conveyor line for the material to be conveyed to continue conveying the material to be conveyed to the loading platform corresponding to the warehousing location. If the conveyor line for the material to be conveyed is reselected, the current position of the material to be conveyed must be used as the starting position to reselect the conveyor line. The current position is the position between the warehousing port and the loading platform corresponding to the warehousing location.

[0065] For example, if Figure 2 As shown, Figure 2 It is a schematic diagram of an embodiment of a material conveying system provided in the present application, D is the current entry port where the material to be conveyed is located, the conveying task of the material to be conveyed is a warehousing task, and the entry location of the material to be conveyed is located on shelf α; therefore, D is the current position of the material to be conveyed, and the conveying destination is the loading platform E corresponding to shelf α.

[0066] It should be noted that in Figure 2 In the figure, A, B and C are the outbound ports; D is the inbound port; K is the stacker; I is the aisle; J is the shelf; E is the pickup platform; F is the rotating platform; G and H are obstacle avoidance points.

[0067] In other embodiments, the conveying task of the material to be conveyed is an outbound task, the conveying destination includes the first outbound port, and the current position includes the pickup platform corresponding to the outbound storage location of the material to be conveyed or any position between the pickup platform and the first outbound port. In the case where the conveying task of the material to be conveyed is an outbound task, the current position is the pickup platform corresponding to the outbound storage location of the material to be conveyed, and the conveying destination is the first outbound port, by obtaining the current position and conveying destination of the material to be conveyed, the material to be conveyed is automatically and efficiently conveyed from the pickup platform corresponding to the outbound storage location to the first outbound port, and the stacker transports the material to be conveyed from the outbound storage location to the pickup platform corresponding to the outbound storage location, thereby realizing the outbound of the material to be conveyed and improving the outbound efficiency. If the transportation task of the material to be transported is an outbound task, then the material to be transported must be transported from the pickup platform corresponding to the outbound storage location to the first outbound port. However, the subsequent conveyor line may fail or be transporting other materials during the transportation of the material to be transported. Therefore, it is necessary to reselect the conveyor line for the material to be transported to continue transporting the material to be transported to the first outbound port. If the conveyor line for the material to be transported is reselected, then the current position of the material to be transported must be used as the starting position to reselect the conveyor line. The current position is the position between the pickup platform corresponding to the outbound storage location and the first outbound port.

[0068] For example, if Figure 2 As shown, A is the first outbound port for the material to be transported, the transport task of the material to be transported is an outbound task, and the outbound storage location of the material to be transported is located on shelf α; therefore, A is the current position of the material to be transported, and the transport destination is the pickup platform E corresponding to shelf α.

[0069] In a specific implementation, the conveying task of the material to be conveyed is an outbound task, and the conveying destination includes a first outbound port, the first outbound port is one of several second outbound ports, and the first outbound port can be any one of several second outbound ports. Of course, in other specific implementations, a second outbound port can also be selected from several second outbound ports as the first outbound port according to the outbound volume statistics of each second outbound port; the first outbound port can be selected according to the outbound volume statistics of each second outbound port, so that a suitable outbound port can be selected, so that the utilization of each outbound port is more balanced, and the outbound efficiency is improved.

[0070] Of course, in other implementations, the current position and the conveying destination of the material to be conveyed may also be any position on the currently existing conveying line, which is not limited here.

[0071] For example, if Figure 2 As shown, the conveying task of the material to be conveyed is to convey the material to be conveyed from G to H, then G is taken as the current position and H is taken as the conveying destination.

[0072] Step S12: Determine at least one initial transport line from the current position to the transport destination.

[0073] In this embodiment, at least one initial transport line from the current position to the transport destination is determined.

[0074] In one embodiment, all feasible conveying lines from the current position to the conveying destination are determined, and all feasible conveying lines are used as initial conveying lines. In the case where the material to be conveyed is too wide, or in other words, the material to be conveyed is wider than the conveying line, the conveying line cannot stably convey the material to be conveyed, and the material to be conveyed may damage the conveying line; therefore, in other embodiments, the associated size parameters of the material to be conveyed are combined to further select some conveying lines from all feasible conveying lines from the current position to the conveying destination as initial conveying lines.

[0075] Step S13: respectively obtain at least two line parameters of each initial transmission line.

[0076] In this implementation manner, at least two line parameters of each initial transmission line are obtained respectively.

[0077] In one embodiment, at least two line parameters of the initial conveyor line include at least two of the following: the length of the initial conveyor line, the number of alarm nodes of the initial conveyor line, the current material load of the initial conveyor line, the number of locked nodes of the initial conveyor line, and the number of obstacle avoidance points of the initial conveyor line; wherein, the initial conveyor line includes multiple conveying stations, the conveyor line between different conveying stations is a conveying node, the number of alarm nodes is the number of conveying nodes in an alarm state, the number of locked nodes is the number of conveying nodes in a locked state, the alarm state indicates that the conveying node has a fault, and the locked state indicates that the conveying node is conveying material.

[0078] In a specific embodiment, the transport station includes at least one of the following: a pickup platform, a delivery platform, an obstacle avoidance point, and a rotating platform.

[0079] For example: take the initial conveyor line including the warehouse entrance (current position), the rotating platform, the obstacle avoidance point and the pickup platform (delivery destination) in sequence as an example: the conveyor line between the warehouse entrance and the rotating platform is the conveying node A, the conveyor line between the rotating platform and the obstacle avoidance point is the conveying node B, and the conveyor line between the obstacle avoidance point and the pickup platform is the conveying node C; taking the conveyor line between the rotating platform and the obstacle avoidance point as the conveying node B as an example, if the conveyor line between the rotating platform and the obstacle avoidance point fails, the state of the conveyor line between the rotating platform and the obstacle avoidance point will be controlled to the alarm state, and if the conveyor line between the rotating platform and the obstacle avoidance point is conveying other materials, the state of the conveyor line between the rotating platform and the obstacle avoidance point will be controlled to the locked state.

[0080] Step S14: For each initial transmission line, based on each line parameter of the initial transmission line and its importance, a transmission score of the initial transmission line is obtained.

[0081] In this embodiment, for each initial transmission line, based on each line parameter of the initial transmission line and its importance, the transmission score of the initial transmission line is obtained. That is to say, for each initial transmission line, the importance corresponding to each line parameter of the initial transmission line may be different, and the transmission score of the initial transmission line can be obtained by combining the importance corresponding to each line parameter.

[0082] Step S15: From at least one initial conveying line, select an initial conveying line whose conveying score meets the score requirement as the target conveying line.

[0083] In this embodiment, an initial conveying line whose conveying score meets the score requirements is selected from at least one initial conveying line as a target conveying line. The target conveying line is the initial conveying line whose conveying score meets the score requirements. Therefore, the target conveying line is the optimal conveying line dynamically planned. The target conveying line can be used to smoothly and efficiently convey the material to be conveyed.

[0084] In one embodiment, the score requirement is that the delivery score is the minimum. That is, the initial conveyor line with the minimum delivery score is used as the target conveyor line for the delivery of the material to be delivered. For example, the line parameters of the initial conveyor line include the length of the initial conveyor line, the number of alarm nodes of the initial conveyor line, the current material load of the initial conveyor line, the number of locked nodes of the initial conveyor line, and the number of obstacle avoidance points of the initial conveyor line. When the delivery score of the initial conveyor line is the minimum, it indicates that the length of the initial conveyor line is short, the number of alarm nodes of the initial conveyor line is small, the current material load of the initial conveyor line is small, the number of locked nodes of the initial conveyor line is small, and the number of obstacle avoidance points of the initial conveyor line is small; therefore, the subsequent use of the initial conveyor line with the minimum delivery score to deliver the material to be delivered can deliver the material to be delivered more smoothly and efficiently.

[0085] Step S16: Control the target conveying line to convey the material to be conveyed.

[0086] In this embodiment, the target conveyor line is controlled to convey the material to be conveyed. Since the target conveyor line is an initial conveyor line whose conveying score meets the score requirements, the target conveyor line is the optimal initial conveyor line dynamically planned by combining at least two line parameters of each initial conveyor line. Therefore, controlling the target conveyor line to convey the material to be conveyed can smoothly and efficiently convey the material to be conveyed, reducing conveyor line congestion.

[0087] In one embodiment, the target conveying line is regarded as a conveying entity, and the conveying entity is used to convey the material to be conveyed. Of course, in other embodiments, the target conveying line can also be divided into multiple conveying subtasks, and the multiple conveying subtasks are used in sequence to convey the material to be conveyed.

[0088] See also Figure 3 , Figure 3 1 is a flow chart of an embodiment of a method for obtaining a destination of a material to be transported provided in the present application. It should be noted that if there are substantially the same results, this embodiment is not limited to Figure 3 The process sequence shown is limited. Figure 3 As shown, the conveying task of the material to be conveyed is an outbound task, and the conveying destination includes a first outbound port, and the first outbound port is one of several second outbound ports. This embodiment includes:

[0089] Step S31: Obtain the statistics of the outbound quantity of each second outbound port.

[0090] In this embodiment, the statistics of the outgoing quantity of each second outgoing port are obtained. In other words, the outgoing quantity of the second outgoing port is counted to obtain the statistics of the outgoing quantity.

[0091] In one embodiment, the outbound quantity statistics may be the first quantity of materials currently located at the second outbound port. That is, the quantity of materials currently located at each second outbound port is counted to obtain the first quantity of materials currently located at each second outbound port.

[0092] In other embodiments, the outbound quantity statistics may also be the second quantity of materials that will be delivered to the second outbound port within the third preset time period. That is, the quantity of materials that will be delivered to each second outbound port within the third preset time period is counted to obtain the second quantity of materials that will be delivered to each second outbound port within the third preset time period.

[0093] Step S32: Select at least one third outbound outlet from among the plurality of second outbound outlets, whose outbound volume statistics meet the low outbound volume condition.

[0094] In this embodiment, at least one third outlet whose outlet statistics meet the low outlet condition is selected from a plurality of second outlets. The outlet statistics of the second outlet meet the low outlet condition, indicating that the number of materials currently waiting to be shipped out through the second outlet is small, and the materials can be shipped out more efficiently and smoothly through the second outlet in the future, reducing the congestion of shipping out. In addition, for each outbound task of the material to be transported, the corresponding outlet will be determined, rather than setting a fixed outlet, so that the outlets for transporting different materials can be adjusted dynamically, and the use of the outlets is more balanced.

[0095] In one embodiment, the outbound quantity statistics include the first quantity of materials currently located at the second outbound port, and the third outbound port includes the second outbound port whose first quantity is less than or equal to the first threshold value. That is, when the outbound quantity statistics are the first quantity of materials currently located at the second outbound port, the second outbound port whose current quantity of materials is less than or equal to the first threshold value is used as an alternative outbound port for materials to be transported. When the first quantity of materials located at the second outbound port is less than or equal to the first threshold value, it means that the number of materials currently waiting to be shipped out at the second outbound port is small, and the materials can be shipped out more efficiently and smoothly through the second outbound port in the future, thereby reducing outbound congestion and improving outbound efficiency.

[0096] There is no limitation on the size of the first threshold, and it can be set according to actual use needs.

[0097] In one embodiment, the outbound quantity statistics include the second quantity of materials that will be transported to the second outbound port within a third preset time period, and the third outbound port includes a second outbound port whose second quantity is less than or equal to a second threshold value. That is to say, when the outbound quantity statistics are the second quantity of materials that will be transported to the second outbound port within a third preset time period, the second outbound port where the second quantity of materials will arrive within the third preset time period will be used as an alternative outbound port for the materials to be transported. When the second quantity of materials that are about to arrive at the second outbound port is less than or equal to the second threshold value, it means that the quantity of materials that are about to be shipped out through the second outbound port is small, and the subsequent materials can be shipped out more efficiently and smoothly through the second outbound port, reducing outbound congestion and improving outbound efficiency.

[0098] There is no limitation on the size of the second threshold, and it can be set according to actual use requirements.

[0099] In one embodiment, the outbound quantity statistics include a first quantity of materials currently located at a second outbound port and a second quantity of materials that will be delivered to the second outbound port within a third preset time period. The third outbound port includes a second outbound port whose first quantity is less than or equal to a first threshold and whose second quantity is less than or equal to a second threshold.

[0100] Step S33: Select a third outbound port as the first outbound port.

[0101] In this embodiment, a third exit port is selected as the first exit port. Since the third exit ports are exit ports through which the number of materials currently waiting to be shipped is relatively small, any third exit port is selected as the first exit port for the materials to be transported, so that the materials to be transported can be shipped out more efficiently and smoothly, reducing shipping congestion and improving shipping efficiency.

[0102] In one embodiment, a third outlet can be randomly selected as the first outlet. Of course, in other embodiments, the third outlet with the lowest outlet statistics can also be selected as the first outlet, which is not limited here.

[0103] See also Figure 4 , Figure 4 yes Figure 1 FIG. 1 is a flow chart of an embodiment of step S12. It should be noted that if there is substantially the same result, this embodiment does not necessarily use Figure 4 The process sequence shown is limited. Figure 4 As shown, this embodiment includes:

[0104] Step S41: Obtain at least two feasible transportation routes from the current position to the transportation destination.

[0105] In this embodiment, at least two feasible conveying lines from the current position to the conveying destination are obtained, that is, all feasible conveying lines that can convey the material to be conveyed from the current position to the conveying destination are found.

[0106] In one implementation, all feasible transportation routes from the current location to the transportation destination may be specifically matched in the route model data table.

[0107] Step S42: Obtain the associated size parameters of the material to be transported.

[0108] In this embodiment, the associated size parameters of the material to be transported are obtained.

[0109] The material to be conveyed can be directly placed on the conveying line for conveying, so in one embodiment, the associated size parameter of the material to be conveyed is the first width of the material to be conveyed.

[0110] The material to be transported may also be placed on a pallet for transport, so in other embodiments, the associated size parameter of the material to be transported may also be the third width of the pallet.

[0111] It should be noted that the execution order of step S41 and step S42 is not limited.

[0112] Step S43: Based on the associated size parameters of the material to be transported, at least one feasible transport line that meets the transport requirements is selected from at least two feasible transport lines as the initial transport line.

[0113] In this embodiment, based on the associated size parameters of the material to be transported, at least one feasible conveying line that meets the conveying requirements is selected from at least two feasible conveying lines as the initial conveying line. The initial conveying line is a feasible conveying line that meets the conveying requirements selected using the associated size parameters of the material to be transported, and the feasible conveying line is a conveying line that can transport the material to be transported from the current position to the destination. Therefore, the initial conveying line is matched with the associated size parameters of the material to be transported. On the one hand, it can stably transport the material to be transported and avoid the material to be transported falling off and causing damage to it during the transportation process; on the other hand, it can avoid the material to be transported from damaging the conveying line.

[0114] In one embodiment, the associated size parameter includes a first width of the material to be transported, and the transport requirement is: the second width of the feasible transport line is greater than or equal to the first width of the material to be transported. That is to say, when the width of the feasible transport line is greater than or equal to the width of the material to be transported, the feasible transport line can be used as the initial transport line. Since the width of the initial transport line is greater than or equal to the width of the material to be transported, the initial transport line can carry the material to be transported, so that the material to be transported can be transported stably, avoiding the material to be transported from falling off during the transportation process and causing damage to the material.

[0115] In other embodiments, the material to be conveyed is placed on a pallet for conveying, and the associated dimensional parameters include the third width of the pallet, and the conveying requirement is: the second width of the feasible conveying line is greater than or equal to the third width of the pallet. That is to say, when the width of the feasible conveying line is greater than or equal to the width of the pallet, this feasible conveying line can be used as the initial conveying line. Since the material to be conveyed is placed on a pallet for conveying, if the pallet cannot be carried, the pallet will fall during the conveying process of the pallet, thereby causing the material to be conveyed to fall and the conveying of the material to be conveyed to fail. Therefore, when the width of the initial conveying line is greater than or equal to the width of the pallet used to carry the material to be conveyed, the initial conveying line can carry the pallet used to carry the material to be conveyed, so that the pallet used to carry the material to be conveyed can be stably conveyed, that is, the material to be conveyed can be stably conveyed, avoiding the material to be conveyed falling off during the conveying process and causing damage to it.

[0116] In one embodiment, for each initial transmission line, based on each line parameter of the initial transmission line and its importance, a transmission score of the initial transmission line is obtained, specifically: for each initial transmission line, the importance of each line parameter of the initial transmission line is obtained; using the importance of each line parameter of the initial transmission line, each line parameter of the initial transmission line is weighted to obtain the transmission score of the initial transmission line. That is to say, for each initial transmission line, a weighted sum is performed using each line parameter of the initial transmission line and its corresponding importance to obtain the transmission score of the initial transmission line. The specific formula is as follows:

[0117]

[0118] Where WAA represents the transmission score of the initial transmission line; n represents the number of line parameters; Indicates the importance of the i-th line parameter; Represents the i-th line parameter.

[0119] In a specific embodiment, Figure 5 As shown, Figure 5 : is a flow chart of an embodiment of a method for determining the importance of each line parameter of each initial transmission line provided by the present application. For each initial transmission line, the importance of each line parameter of the initial transmission line is obtained, which specifically includes the following sub-steps:

[0120] Step S51: taking each line parameter as the target line parameter respectively.

[0121] In this embodiment, each line parameter is used as a target line parameter.

[0122] In one embodiment, before each line parameter is used as the target line parameter, a decision data set is constructed using each line parameter of each initial transmission line, and each line parameter in the decision data set is normalized.

[0123] In a specific implementation, the decision data set is expressed in the form of a matrix.

[0124] For example, there are n initial conveyor lines, denoted as X1, X2, ... n Each initial transmission line includes five line parameters, which are recorded as U1, U2, ... U5. Therefore, the constructed decision matrix A is as follows:

[0125]

[0126] Among them, each row of the decision matrix A represents the initial conveyor line X i Different line parameters; each column of the decision matrix A represents the same line parameters in different initial transmission lines.

[0127] Furthermore, the following formula is used to normalize the line parameters in the decision matrix A to obtain a normalized matrix B. The matrix B is specifically shown as follows:

[0128]

[0129]

[0130] Among them, each column of the decision matrix A is normalized, and different columns do not affect each other.

[0131] Step S52: Obtain a comparison importance set of target line parameters.

[0132] In this embodiment, a comparative importance set of target line parameters is obtained; wherein the comparative importance set of target line parameters includes the comparative importance of target line parameters between any two initial transmission lines, and any two initial transmission lines are the same or different initial transmission lines. By constructing a comparative importance set of target line parameters, the relative importance or superiority relationship of each initial transmission line on the target line parameters is quantitatively evaluated. In addition, a comparative importance set of different line parameters is constructed to use a relative scale to minimize the difficulty of comparing line parameters of different natures.

[0133] In one embodiment, the comparative importance of the target line parameters between two initial transmission lines is calibrated using a scale value. For example, take the initial transmission line A and the initial transmission line B as an example: if the initial transmission line A and the initial transmission line B are the same initial transmission line, then the initial transmission line A and the initial transmission line B are equally important with respect to the target line parameters, and the comparative importance of the initial transmission line A and the initial transmission line B with respect to the target line parameters is 1; if the initial transmission line A and the initial transmission line B are different initial transmission lines, and in terms of the target line parameters, the initial transmission line A is slightly more important than the initial transmission line B, then the comparative importance of the initial transmission line A with respect to the target line parameters with respect to the initial transmission line B is 3, on the contrary, the comparative importance of the initial transmission line B with respect to the initial transmission line A with respect to the target line parameters is 1 / 3; if the initial transmission line A and the initial transmission line B are different initial transmission lines, and in terms of the target line parameters, the initial transmission line A is obviously more important than the initial transmission line B, then the comparative importance of the initial transmission line A with respect to the initial transmission line B is 1 / 3. The comparative importance of the target line parameters is 5, on the contrary, the comparative importance of the initial transmission line B relative to the initial transmission line A with respect to the target line parameters is 1 / 5; if the initial transmission line A and the initial transmission line B are different initial transmission lines, and the initial transmission line A is strongly important relative to the initial transmission line B in terms of the target line parameters, then the comparative importance of the initial transmission line A relative to the initial transmission line B with respect to the target line parameters is 7, on the contrary, the comparative importance of the initial transmission line B relative to the initial transmission line A with respect to the target line parameters is 1 / 7; if the initial transmission line A and the initial transmission line B are different initial transmission lines, and the initial transmission line A is extremely important relative to the initial transmission line B in terms of the target line parameters, then the comparative importance of the initial transmission line A relative to the initial transmission line B with respect to the target line parameters is 9, on the contrary, the comparative importance of the initial transmission line B relative to the initial transmission line A with respect to the target line parameters is 1 / 9. It should be noted that the scale values ​​of the comparative importance corresponding to equally important, slightly important, obviously important, strongly important, extremely important, etc. can also be adaptively modified, and are not limited here.

[0134] In one implementation, the target line parameter comparison importance set is expressed in a matrix.

[0135] For example, if the number of initial transmission lines is 3 and the number of line parameters is 5, then 5 3×3 comparison matrices (the expression of the comparison importance of each target line parameter set) will be obtained. The comparison matrix is ​​as follows:

[0136]

[0137] Among them, C1, C2, ..., C5 represent the comparison matrices corresponding to different target line parameters; taking the comparison matrix C1 as an example, the element c in the comparison matrix C1 is ij Indicates the comparative importance of the target line parameters between the initial transmission line i and the initial transmission line j.

[0138] Step S53: taking each initial transmission line as a target transmission line, and obtaining the importance of the target line parameters of the target transmission line based at least on the comparative importance of the target line parameters between the target transmission line and each initial transmission line.

[0139] In this embodiment, each initial transmission line is used as a target transmission line, and the importance of the target line parameter of the target transmission line is obtained based on at least the comparative importance of the target transmission line and each initial transmission line with respect to the target line parameter. In other words, the importance of each initial transmission line with respect to the target line parameter can be determined by using the comparative importance set of the target line parameter.

[0140] In a specific embodiment, the importance of the target line parameters of the target transmission line is obtained at least based on the comparative importance of the target line parameters between the target transmission line and each initial transmission line, specifically: taking each initial transmission line as a reference transmission line, obtaining the sum of the comparative importance of the target line parameters between each initial transmission line and the reference transmission line; and obtaining the comparative importance of the target line parameters between the target transmission line and the reference transmission line as the comparative importance corresponding to the reference transmission line; obtaining the ratio between the comparative importance corresponding to the reference transmission line and the sum of the comparative importance corresponding to the reference transmission line; obtaining the central tendency statistical value of the ratio corresponding to each initial transmission line as the importance of the target line parameters of the target transmission line. The specific formula is as follows:

[0141]

[0142] Wherein, W represents the importance of the target line parameter of the target transmission line; n represents the number of initial transmission lines; Indicates the comparative importance of target line parameters between target transmission line i and reference transmission line j; It represents the sum of the comparative importance of the target line parameters between the initial transmission lines and the reference transmission lines.

[0143] In one embodiment, before obtaining the importance of the target line parameters of the target transmission line based at least on the comparative importance of the target line parameters between the target transmission line and each initial transmission line, a consistency check is performed on the comparative importance set of the target line parameters to obtain a check result, wherein the check result is used to characterize whether the comparative importance set of the target line parameters meets the consistency requirement; in response to the comparative importance set of the target line parameters meeting the consistency requirement, the importance of the target line parameters of the target transmission line is obtained based at least on the comparative importance of the target line parameters between the target transmission line and each initial transmission line. That is, before obtaining the importance of the target line parameters of the target transmission line using the comparative importance of the target line parameters between the target transmission line and each initial transmission line, a consistency check is performed on the comparative importance set of the target line parameters to ensure that the comparative importance of the target line parameters between any two initial transmission lines included in the comparative importance set of the target line parameters is reasonable and logically correct, thereby ensuring that the importance of the target line parameters of the target transmission line determined subsequently is reasonable and logically correct.

[0144] In a specific implementation, a consistency check is performed on a comparative importance set of target line parameters to obtain a check result, specifically: based on the comparative importance set of target line parameters, a target consistency index is determined; and based on the number of initial transmission lines, an average consistency index is determined; and the check result is obtained using the target consistency index and the average consistency index.

[0145] In a specific implementation, based on the set of comparative importance of target line parameters, the target consistency index is determined, specifically: obtaining the maximum comparative importance in the set of comparative importance of target line parameters; obtaining the first ratio of the first difference to the second difference as the target consistency index, wherein the first difference is the difference between the maximum comparative importance and the number of initial conveying lines, and the second difference is the difference between the number of initial conveying lines and a preset value, and the size of the preset value is not limited. The specific formula is as follows:

[0146]

[0147] Where CI represents the target consistency index; n represents the number of initial conveyor lines; 1 represents the preset value; λ max Indicates the maximum contrast importance.

[0148] In a specific embodiment, an average consistency comparison table is cited, and the average consistency index is the value of the initial number of conveyor lines in the average consistency comparison table. For example, the average consistency comparison table is cited, and in the average consistency comparison table, when the initial number of conveyor lines n is 1, the corresponding average consistency index RI is 0; when the initial number of conveyor lines n is 2, the corresponding average consistency index RI is 0; when the initial number of conveyor lines n is 3, the corresponding average consistency index RI is 0.58; when the initial number of conveyor lines n is 4, the corresponding average consistency index RI is 0.90; when the initial number of conveyor lines n is 5, the corresponding average consistency index RI is 1.12; when the initial number of conveyor lines n is 6, the corresponding average consistency index RI is 1.24.

[0149] In a specific implementation, the target consistency index and the average consistency index are used to obtain the verification result, specifically: a second ratio of the target consistency index to the average consistency index is obtained as the verification result. The specific formula is as follows:

[0150]

[0151] Among them, CR represents the verification result; CI represents the target consistency index; RI represents the average consistency index. It should be noted that when the verification result is less than the fourth threshold, the comparison importance set of the target line parameters meets the consistency requirement, and the size of the third threshold is not limited, for example, the third threshold is 0.1, 0.2, etc.

[0152] See also Figure 6 , Figure 6 yes Figure 1 It should be noted that if there is substantially the same result, this embodiment does not use Figure 6 The process sequence shown is limited. Figure 6 As shown, this embodiment includes:

[0153] Step S61: using multiple conveying sites, dividing the target conveying line into several sub-conveyor lines.

[0154] In this embodiment, a plurality of conveying stations are used to divide the target conveying line into a plurality of sub-conveyor lines, that is, a conveying sub-task is divided between every two conveying stations.

[0155] Step S62: Controlling a plurality of sub-conveyor lines in sequence to convey the materials to be conveyed.

[0156] In this embodiment, several sub-conveyor lines are controlled in sequence to convey the material to be conveyed. That is, after the previous sub-conveyor line has completed conveying the material to be conveyed, or after the previous conveying subtask has been completed, the next sub-conveyor line is controlled to convey the material to be conveyed, or the next conveying subtask is controlled to be executed.

[0157] In one embodiment, the sub-conveyor line is controlled to convey the material to be conveyed, specifically, a command is sent to the sub-conveyor line to instruct the sub-conveyor line to convey the material to be conveyed.

[0158] In one embodiment, if Figure 7 As shown, Figure 7 yes Figure 6 The flowchart of step S62 of an embodiment shown in FIG. 1 controls a plurality of sub-conveyor lines in sequence to convey the material to be conveyed, and specifically includes the following sub-steps:

[0159] Step S71: sequentially taking each sub-conveyor line as the current sub-conveyor line.

[0160] In this embodiment, each sub-conveyor line is sequentially used as the current sub-conveyor line.

[0161] Step S72: Obtain the line status of the current sub-transmission line.

[0162] In this implementation, the line status of the current sub-transmission line is obtained.

[0163] In one embodiment, the line status includes at least one of an alarm status and a lock status, the alarm status indicates that a fault occurs in the current sub-conveyor line, and the lock status indicates that the current sub-conveyor line is conveying materials.

[0164] Step S73: In response to the line status of the current sub-conveyor line being normal, controlling the current sub-conveyor line to convey the material to be conveyed.

[0165] In this embodiment, in response to the line status of the current sub-conveyor line being normal, the current sub-conveyor line is controlled to convey the material to be conveyed. That is, before controlling the current sub-conveyor line to convey the material to be conveyed, it is determined whether the current sub-conveyor line is suitable for conveying the material to be conveyed, so as to ensure that the current sub-conveyor line conveys the material to be conveyed smoothly and efficiently.

[0166] For example, take the line status including the alarm status as an example: when the current sub-conveyor line has not failed, it indicates that the line status of the current sub-conveyor line is normal, and the current sub-conveyor line that has not failed can smoothly and efficiently transport the materials to be transported; therefore, when the current sub-conveyor line has not failed, the current sub-conveyor line is controlled to transport the materials to be transported, so as to smoothly and efficiently transport the materials to be transported.

[0167] In one embodiment, after receiving the first feedback result indicating the completion of the transportation sent by the current sub-conveyor line, the next sub-conveyor line is used as the new current sub-conveyor line, and the line status of the current sub-conveyor line and its subsequent steps are re-executed. That is, after the current sub-conveyor line completes the transportation of the material to be transported, the current sub-conveyor line will feedback the first feedback result indicating the completion of the transportation; after receiving the first feedback result fed back by the current sub-conveyor line, it is determined that the current sub-conveyor line has completed the transportation of the material to be transported. At this time, it is determined whether the next current sub-conveyor line can efficiently and smoothly transport the material to be transported. That is, after determining that the current sub-conveyor line has completed the transportation of the material to be transported, it is determined whether the next current sub-conveyor line can efficiently and smoothly transport the material to be transported, and after the next current sub-conveyor line can efficiently and smoothly transport the material to be transported, the next current sub-conveyor line is controlled to transport, and the cycle is repeated until the material to be transported is transported to the destination.

[0168] In one embodiment, in response to an abnormal line status of the current sub-conveyor line, after a first preset time period, the steps of obtaining the line status of the current sub-conveyor line and its subsequent steps are re-executed until, after a second preset time period, it is determined that the line status of the current sub-conveyor line is abnormal, and the starting conveying station of the current sub-conveyor line is used as the current position of the material to be conveyed, and the steps of obtaining the current position and conveying destination of the material to be conveyed and its subsequent steps are re-executed; wherein the second preset time period is greater than the first preset time period.

[0169] That is to say, when it is determined that the line status of the current sub-conveyor line is abnormal, the line status of the current sub-conveyor line will be judged again at intervals of the first preset time period whether it is normal or abnormal, until the line status of the current sub-conveyor line is still abnormal after the second preset time period, indicating that the current sub-conveyor line cannot transport the materials to be transported normally and smoothly. If the current sub-conveyor line is continuously waited for to be normal and then used to transport the materials to be transported, on the one hand, it will affect the timeliness of the transportation of the materials to be transported, and on the other hand, it may affect the transportation of other materials and cause transportation congestion. Therefore, at this time, the starting transportation station of the current sub-conveyor line will be used as the current position of the materials to be transported, and the conveying line for the materials to be transported will be re-planned to transport the materials to be transported in a timely and efficient manner.

[0170] It should be noted that when it is determined that the line status of the current sub-conveyor line is abnormal, the line status of the current sub-conveyor line will be judged again at every first preset time interval whether it is normal or abnormal. As long as it can be determined that the line status of the current sub-conveyor line is normal within the second preset time, then when it is determined that the line status of the current sub-conveyor line is normal, the current sub-conveyor line can be controlled to transport the material to be transported.

[0171] The first preset time length and the second preset time length are not limited and can be set according to actual use needs. For example, the first preset time length is 5 seconds and the second preset time length is 1 minute.

[0172] In one embodiment, the conveying task of the material to be conveyed is a warehousing task, the conveying destination includes a loading platform corresponding to the warehousing location of the material to be conveyed, and the current position is the warehousing entrance. Before obtaining the current position and the conveying destination of the material to be conveyed, the following processes are also included in sequence:

[0173] The logistics vehicle arrives at the platform and automatically unloads, and the materials to be transported are then transported to the warehouse entrance.

[0174] An entry inspection station is set up at the entrance to the warehouse. The height, width, weight, etc. of the materials to be transported will be inspected to determine whether the height, width and weight of the materials to be transported exceed the limit; if the materials to be transported are placed on a pallet for transportation, the entry inspection station will also inspect the size of the pallet.

[0175] The shape inspection is carried out manually. If the height, width and weight of the material to be transported exceed the limit, it will enter the rejection process and will not be stored temporarily.

[0176] When the materials to be transported are placed on a pallet for transportation, the barcode scanner can scan and obtain the code of the pallet on which the materials to be transported are placed and report it to the warehouse control system. When the materials to be transported are directly placed on the conveyor line for transportation, the barcode scanner can scan and obtain the material code of the materials to be transported and report it to the warehouse control system.

[0177] The warehouse control system obtains the pallet code or the material code of the material to be transported reported by the barcode scanner, and reports the pallet code or the material code of the material to be transported to the logistics business control system (LCS) to apply for a warehousing task.

[0178] If the logistics business control system determines that there is a warehousing task corresponding to the material to be transported, the warehousing task is sent to the warehouse control system.

[0179] The warehouse control system receives the warehousing tasks issued by the logistics business control system. The warehousing tasks include the warehousing locations. Then, the warehouse control system matches the aisles and the delivery platforms to which the warehousing and inbound locations belong in the data table corresponding to the platforms and lanes, and uses the delivery platform to which the warehousing locations belong as the delivery destination, and the warehousing entrance as the current location.

[0180] After controlling the target conveying line and conveying the material to be conveyed, the following processes are also included in sequence:

[0181] The warehouse control system sends pick-up and release instructions to the stacker corresponding to the aisle to which the incoming storage location belongs, so that the stacker moves to the release platform to pick up the materials to be transported, and after obtaining the materials to be transported, transports the materials to the incoming storage location to complete the warehousing of the materials to be transported.

[0182] The warehouse control system updates the task status of the warehousing task corresponding to the material to be transported to a completed status, and feeds back the updated task status of the warehousing task corresponding to the material to be transported to the logistics business master control system.

[0183] The logistics business control system receives the task status of the materials to be transported fed back by the warehouse control system, and updates the task status of the warehousing task corresponding to the materials to be transported.

[0184] In one embodiment, the conveying task of the material to be conveyed is an outbound task, the conveying destination includes an outbound port, and the current position is a pickup platform corresponding to the outbound storage location. Before obtaining the current position and the conveying destination of the material to be conveyed, the following processes are also included in sequence:

[0185] The logistics business control system receives the outbound documents issued by the ERP system, generates outbound tasks and sends them to the warehouse control system.

[0186] The warehouse control system receives the outbound tasks issued by the logistics business control system. The outbound tasks include the materials to be transported and their corresponding outbound storage locations. Then, the warehouse control system determines whether it is necessary to move the warehouse to get the materials to be transported. Then, when it is determined that the warehouse needs to move, the warehouse control system sends a move instruction to the stacker corresponding to the aisle to which the outbound storage location belongs to carry out the move.

[0187] The warehouse control system sends the pickup and release instructions to the stacker corresponding to the lane of the outbound storage location, so that the stacker moves to the outbound storage location to pick up the materials to be transported, and after obtaining the materials to be transported, transports the materials to be transported to the pickup platform corresponding to the lane of the outbound storage location. The warehouse control system takes the pickup platform as the current position and the outbound port as the delivery destination.

[0188] After controlling the target conveying line and conveying the material to be conveyed, the following processes are also included in sequence:

[0189] The warehouse control system updates the task status of the outbound task corresponding to the material to be transported to a completed status, and feeds back the updated task status of the outbound task corresponding to the material to be transported to the logistics business master control system.

[0190] The logistics business control system receives the task status of the materials to be transported fed back by the warehouse control system, and updates the task status of the outbound tasks corresponding to the materials to be transported.

[0191] See also Figure 8 , Figure 8 It is a structural schematic diagram of an embodiment of a material conveying device provided by the present application. The material conveying device 80 includes a first acquisition module 81, a determination module 82, a second acquisition module 83, a selection module 84 and a control module 85. The first acquisition module 81 is used to obtain the current position and the conveying destination of the material to be conveyed; the determination module 82 is used to determine at least one initial conveying line from the current position to the conveying destination; the second acquisition module 83 is used to respectively obtain at least two line parameters of each initial conveying line; the selection module 84 is used to select a target conveying line from at least one initial conveying line based on at least two line parameters of each initial conveying line; the control module 85 is used to control the target conveying line to convey the material to be conveyed.

[0192] Among them, at least two line parameters of the above-mentioned initial conveyor line include at least two of the following: the length of the initial conveyor line, the number of alarm nodes of the initial conveyor line, the current material load of the initial conveyor line, the number of locked nodes of the initial conveyor line, and the number of obstacle avoidance points of the initial conveyor line, wherein the initial conveyor line includes multiple conveying stations, and the conveyor line between different conveying stations is a conveying node. The number of alarm nodes is the number of conveying nodes in the alarm state, and the number of locked nodes is the number of conveying nodes in the locked state. The alarm state indicates that the conveying node has a fault, and the locked state indicates that the conveying node is conveying material.

[0193] The above-mentioned transportation stations include at least one of the following: a pickup platform, a delivery platform, an obstacle avoidance point, and a rotating platform.

[0194] Among them, the selection module 84 is used to obtain the transportation score of each initial transportation line based on the line parameters of the initial transportation line and their importance, including: for each initial transportation line, obtaining the importance of each line parameter of the initial transportation line; using the importance of each line parameter of the initial transportation line, weighting the line parameters of the initial transportation line respectively to obtain the transportation score of the initial transportation line.

[0195] Among them, the selection module 84 is used to obtain the importance of each line parameter of the initial transmission line for each initial transmission line, including: taking each line parameter as the target line parameter respectively; obtaining a comparative importance set of the target line parameters; wherein the comparative importance set of the target line parameters includes the comparative importance of the target line parameters between any two initial transmission lines, and any two initial transmission lines are the same or different initial transmission lines; taking each initial transmission line as the target transmission line respectively, and obtaining the importance of the target line parameters of the target transmission line based on at least the comparative importance of the target line parameters between the target transmission line and each initial transmission line.

[0196] Among them, the selection module 84 is used to obtain the importance of the target line parameters of the target conveyor line based on at least the comparative importance of the target line parameters between the target conveyor line and each initial conveyor line, including: taking each initial conveyor line as a reference conveyor line, and obtaining the sum of the comparative importance of the target line parameters between each initial conveyor line and the reference conveyor line; and obtaining the comparative importance of the target line parameters between the target conveyor line and the reference conveyor line as the comparative importance corresponding to the reference conveyor line; obtaining the ratio between the comparative importance corresponding to the reference conveyor line and the sum of the comparative importance corresponding to the reference conveyor line; obtaining the central trend statistical value of the ratio corresponding to each initial conveyor line as the importance of the target line parameters of the target conveyor line.

[0197] Among them, the selection module 84 is used to perform consistency check on the set of comparative importance levels of the target line parameters to obtain a check result before obtaining the importance levels of the target line parameters of the target transmission line based at least on the comparative importance levels of the target line parameters between the target transmission line and each initial transmission line; wherein the check result is used to characterize whether the set of comparative importance levels of the target line parameters meets the consistency requirements; in response to the comparative importance level set of the target line parameters meeting the consistency requirements, execute at least based on the comparative importance levels of the target line parameters between the target transmission line and each initial transmission line to obtain the importance levels of the target line parameters of the target transmission line.

[0198] Among them, the selection module 84 is used to perform consistency verification on the comparative importance set of the target line parameters to obtain the verification result, including: determining the target consistency index based on the comparative importance set of the target line parameters; and, based on the number of initial transmission lines, determining the average consistency index; using the target consistency index and the average consistency index to obtain the verification result.

[0199] Among them, the selection module 84 is used to determine the target consistency index based on the comparative importance set of the target line parameters, including: obtaining the maximum comparative importance in the comparative importance set of the target line parameters; obtaining a first ratio of the first difference to the second difference as the target consistency index; wherein the first difference is the difference between the maximum comparative importance and the number of initial conveyor lines, and the second difference is the difference between the number of initial conveyor lines and a preset value; and / or, the selection module 84 is used to use the target consistency index and the average consistency index to obtain a verification result, including: obtaining a second ratio of the target consistency index to the average consistency index as the verification result.

[0200] Among them, the score requirement is the minimum delivery score.

[0201] Among them, the above-mentioned target conveying line includes multiple conveying stations; the control module 85 is used to control the target conveying line to convey the material to be conveyed, including: using multiple conveying stations to divide the target conveying line to obtain several sub-conveyor lines; controlling several sub-conveyor lines in sequence to convey the material to be conveyed.

[0202] Among them, the control module 85 is used to control several sub-conveyor lines in sequence to convey the materials to be conveyed, including: taking each sub-conveyor line as the current sub-conveyor line in sequence; obtaining the line status of the current sub-conveyor line; in response to the line status of the current sub-conveyor line being normal, controlling the current sub-conveyor line to convey the materials to be conveyed.

[0203] Among them, the control module 85 is used to control the current sub-conveyor line to transport the material to be transported, including: sending instructions to the current sub-conveyor line; wherein the sending instructions are used to instruct the current sub-conveyor line to send out the material to be transported; and / or, after receiving the first feedback result sent by the current sub-conveyor line indicating that the transportation is completed, the next sub-conveyor line is used as the new current sub-conveyor line, and the line status of the current sub-conveyor line and its subsequent steps are obtained again; and / or, the above-mentioned line status includes at least one of the following: an alarm state, a locked state, wherein the alarm state indicates that the current sub-conveyor line has a fault, and the locked state indicates that the current sub-conveyor line is transporting materials.

[0204] Among them, the control module 85 is used to respond to the abnormal line status of the current sub-conveyor line. After a first preset time, the line status of the current sub-conveyor line is re-executed and its subsequent steps are obtained, until after a second preset time, the line status of the current sub-conveyor line is determined to be abnormal, and the starting conveying station of the current sub-conveyor line is used as the current position of the material to be conveyed, and the current position and conveying destination of the material to be conveyed and its subsequent steps are obtained again; wherein the second preset time is greater than the first preset time.

[0205] Among them, the determination module 82 is used to determine at least one initial conveying line from the current position to the conveying destination, including: obtaining at least two feasible conveying lines from the current position to the conveying destination; and obtaining the associated size parameters of the material to be conveyed; based on the associated size parameters of the material to be conveyed, from at least two feasible conveying lines, select at least one feasible conveying line that meets the conveying requirements as the initial conveying line.

[0206] Among them, the above-mentioned associated dimensional parameters include the first width of the material to be conveyed, and the conveying requirement is: the second width of the feasible conveying line is greater than or equal to the first width of the material to be conveyed; and / or, the material to be conveyed is placed on a pallet for conveyance, and the associated dimensional parameters include the third width of the pallet, and the conveying requirement is: the second width of the feasible conveying line is greater than or equal to the third width of the pallet.

[0207] Among them, the transportation task of the above-mentioned material to be transported is an inbound task, the transportation destination includes the loading platform corresponding to the inbound storage location of the material to be transported, and the current position includes the inbound port or any position between the inbound port and the transportation destination; or, the transportation task of the above-mentioned material to be transported is an outbound task, the transportation destination includes the first outbound port, and the current position includes the pickup platform corresponding to the outbound storage location of the material to be transported or any position between the pickup platform and the first outbound port.

[0208] Among them, the transportation task of the above-mentioned material to be transported is an outbound task, and the transportation destination includes a first outbound port, and the first outbound port is one of several second outbound ports; the first acquisition module 81 is used to obtain the transportation destination of the material to be transported, including: obtaining the outbound quantity statistics of each second outbound port; from several second outbound ports, selecting at least one third outbound port whose outbound quantity statistics meet the low outbound quantity conditions; selecting a third outbound port as the first outbound port.

[0209] Among them, the above-mentioned outbound quantity statistics include: the first quantity of materials currently located at the second outbound port, and the third outbound port includes the second outbound port whose first quantity is less than or equal to the first threshold; and / or, the above-mentioned outbound quantity statistics include: the second quantity of materials that will be transported to the second outbound port within a third preset time period; the third outbound port includes the second outbound port whose second quantity is less than or equal to the second threshold.

[0210] See also Fig. 9 , Fig. 9 : is a structural schematic diagram of an embodiment of a material conveying device provided in the present application. The material conveying device 90 includes a memory 91 and a processor 92 coupled to each other, and the processor 92 is used to execute program instructions stored in the memory 91 to implement the steps of any of the above-mentioned material conveying method embodiments. In a specific implementation scenario, the material conveying device 90 may include but is not limited to: a microcomputer, a server, and in addition, the material conveying device 90 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0211] Specifically, the processor 92 is used to control itself and the memory 91 to implement the steps of any of the above-mentioned material conveying method embodiments. The processor 92 can also be called a CPU (Central Processing Unit). The processor 92 may be an integrated circuit chip with signal processing capabilities. The processor 92 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 92 can be implemented by an integrated circuit chip.

[0212] The present application also provides a material conveying system, the material conveying system includes material conveying equipment and a conveying line, and the material conveying equipment is the above-mentioned equipment.

[0213] See also Fig.10 , Fig.10 It is a structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 100 of the embodiment of the present application stores a program instruction 101, and when the program instruction 101 is executed, it implements the method provided by any embodiment of the material conveying method of the present application and any non-conflicting combination. Among them, the program instruction 101 can form a program file and be stored in the above-mentioned computer-readable storage medium 100 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods of each implementation method of the present application. The aforementioned computer-readable storage medium 100 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0214] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A material conveying method, characterized in that: The method comprises: Get the current location and destination of the material to be transported; determining at least one initial transport route from the current position to the transport destination; Respectively obtaining at least two line parameters of each of the initial transmission lines; For each of the initial transmission lines, based on each line parameter of the initial transmission line and its importance, a transmission score of the initial transmission line is obtained; From the at least one initial conveying line, select the initial conveying line whose conveying score meets the score requirement as the target conveying line; Controlling the target conveying line to convey the material to be conveyed; Wherein, for each of the initial transmission lines, based on each line parameter of the initial transmission line and its importance, obtaining the transmission score of the initial transmission line includes: respectively taking each of the line parameters as a target line parameter; Obtaining a comparative importance set of the target line parameters; wherein the comparative importance set of the target line parameters includes comparative importances of the target line parameters between any two of the initial transmission lines, and the any two initial transmission lines are the same or different two initial transmission lines; Taking each of the initial transmission lines as the target transmission line, at least based on the comparative importance of the target transmission line parameters between the target transmission line and each of the initial transmission lines, obtaining the importance of the target transmission line parameters of the target transmission line specifically includes: taking each of the initial transmission lines as the reference transmission line, obtaining the sum of the comparative importance of the target transmission line parameters between each of the initial transmission lines and the reference transmission line, and obtaining the comparative importance of the target transmission line parameters between the target transmission line and the reference transmission line as the comparative importance corresponding to the reference transmission line; obtaining the ratio between the comparative importance corresponding to the reference transmission line and the sum of the comparative importance corresponding to the reference transmission line; obtaining the central tendency statistical value of the ratio corresponding to each of the initial transmission lines as the importance of the target transmission line parameters of the target transmission line; By using the importance of each line parameter of the initial transmission line, weighted processing is performed on each line parameter of the initial transmission line to obtain a transmission score of the initial transmission line.

2. The method according to claim 1, characterized in that The at least two line parameters of the initial conveyor line include at least two of the following: the length of the initial conveyor line, the number of alarm nodes of the initial conveyor line, the current material load of the initial conveyor line, the number of locked nodes of the initial conveyor line, and the number of obstacle avoidance points of the initial conveyor line, wherein the initial conveyor line includes multiple conveying stations, and the conveyor line between different conveying stations is a conveying node. The number of alarm nodes is the number of conveying nodes in an alarm state, and the number of locked nodes is the number of conveying nodes in a locked state. The alarm state indicates that the conveying node has a fault, and the locked state indicates that the conveying node is conveying material.

3. The method according to claim 2, characterized in that The transport station includes at least one of the following: a pickup platform, a delivery platform, an obstacle avoidance point, and a rotating platform.

4. The method according to claim 1, characterized in that Before obtaining the importance of the target line parameter of the target transmission line based at least on the comparative importance of the target line parameter between the target transmission line and each of the initial transmission lines, the method further includes: Performing a consistency check on the comparison importance set of the target line parameters to obtain a check result; wherein the check result is used to indicate whether the comparison importance set of the target line parameters meets the consistency requirement; In response to the target line parameter comparison importance set meeting the consistency requirement, the importance of the target line parameter of the target transmission line is obtained based on at least the comparison importance of the target line parameter between the target transmission line and each of the initial transmission lines.

5. The method according to claim 4, characterized in that The performing consistency check on the comparison importance set of the target line parameters to obtain a check result includes: Determining a target consistency index based on a set of comparative importances of the target line parameters; and, determining an average consistency index based on the number of initial conveyor lines; The verification result is obtained by using the target consistency index and the average consistency index.

6. The method according to claim 5, characterized in that The determining of the target consistency index based on the comparison importance set of the target line parameters includes: Obtaining the maximum comparative importance in the comparative importance set of the target line parameter; Obtaining a first ratio of the first difference to the second difference as the target consistency indicator; wherein the first difference is the difference between the maximum contrast importance and the number of the initial conveyor lines, and the second difference is the difference between the number of the initial conveyor lines and a preset value; And / or, the using the target consistency index and the average consistency index to obtain the verification result includes: A second ratio of the target consistency index to the average consistency index is obtained as the verification result.

7. The method according to claim 1, characterized in that The score requirement is that the delivery score is the minimum.

8. The method according to claim 1, characterized in that: The target conveying line includes a plurality of conveying stations; and controlling the target conveying line to convey the material to be conveyed includes: Using the multiple conveying sites, the target conveying line is divided to obtain a plurality of sub-conveying lines; The plurality of sub-conveyor lines are controlled in sequence to convey the materials to be conveyed.

9. The method according to claim 8, characterized in that The sequentially controlling the plurality of sub-conveyor lines to convey the material to be conveyed comprises: Sequentially taking each of the sub-conveyor lines as the current sub-conveyor line; Acquire the line status of the current sub-transmission line; In response to the line status of the current sub-conveyor line being normal, the current sub-conveyor line is controlled to convey the material to be conveyed.

10. The method according to claim 9, characterized in that The controlling the current sub-conveyor line to convey the material to be conveyed includes: Sending a sending instruction to the current sub-conveyor line; wherein the sending instruction is used to instruct the current sub-conveyor line to send out the material to be conveyed; and / or, after receiving the first feedback result indicating the completion of the conveying sent by the current sub-conveyor line, taking the next sub-conveyor line as the new current sub-conveyor line, and re-executing the steps of obtaining the line status of the current sub-conveyor line and its subsequent steps; And / or, the line status includes at least one of the following: an alarm status and a locking status, wherein the alarm status indicates that the current sub-conveyor line has a fault, and the locking status indicates that the current sub-conveyor line is conveying materials.

11. The method according to claim 9, characterized in that The method further comprises: In response to the line status of the current sub-conveyor line being abnormal, after a first preset time period, the steps of obtaining the line status of the current sub-conveyor line and its subsequent steps are re-executed until, after a second preset time period, it is determined that the line status of the current sub-conveyor line is abnormal, and the starting conveying station of the current sub-conveyor line is used as the current position of the material to be conveyed, and the steps of obtaining the current position and conveying destination of the material to be conveyed and its subsequent steps are re-executed; wherein, the second preset time period is greater than the first preset time period.

12. The method according to claim 1, characterized in that The determining of at least one initial transport line from the current position to the transport destination comprises: Acquire at least two feasible transport routes from the current position to the transport destination; And, obtaining the associated size parameters of the material to be transported; Based on the associated size parameters of the material to be transported, at least one feasible transport line that meets the transport requirements is selected from the at least two feasible transport lines as the initial transport line.

13. The method according to claim 12, characterized in that The associated size parameter includes the first width of the material to be transported, and the transport requirement is: the second width of the feasible transport line is greater than or equal to the first width of the material to be transported; And / or, the material to be conveyed is placed on a pallet for conveyance, the associated size parameters include a third width of the pallet, and the conveying requirement is that the second width of the feasible conveying line is greater than or equal to the third width of the pallet.

14. The method according to claim 1, characterized in that The conveying task of the material to be conveyed is a warehousing task, the conveying destination includes a loading platform corresponding to the warehousing location of the material to be conveyed, and the current position includes an entry port or any position between the entry port and the conveying destination; Alternatively, the transport task of the material to be transported is an outbound task, the transport destination includes a first outbound port, and the current position includes a pickup platform corresponding to the outbound storage location of the material to be transported or any position between the pickup platform and the first outbound port.

15. The method according to claim 14, characterized in that The conveying task of the material to be conveyed is an outbound task, and the conveying destination includes a first outbound port, and the first outbound port is one of a plurality of second outbound ports; obtaining the conveying destination of the material to be conveyed includes: Obtaining statistics on the shipment quantity of each of the second shipment ports; Selecting at least one third outbound outlet from the plurality of second outbound outlets, the outbound quantity statistics of which meet the low outbound quantity condition; Select the third outlet as the first outlet.

16. The method according to claim 15, characterized in that The outbound quantity statistics include: a first quantity of materials currently located at the second outbound port, and the third outbound port includes a second outbound port where the first quantity is less than or equal to a first threshold; And / or, the outbound quantity statistics include: a second quantity of materials that will be transported to the second outbound port within a third preset time period; the third outbound port includes a second outbound port where the second quantity is less than or equal to a second threshold.

17. A material conveying device, characterized in that: The material conveying equipment comprises a memory and a processor, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method according to any one of claims 1-16.

18. A material conveying system, characterized in that: The material conveying system comprises material conveying equipment and a conveying line, and the material conveying equipment is the equipment described in claim 17.

19. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program instructions, and the program instructions can be executed to implement the method according to any one of claims 1-16.

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