Scheduling method and equipment for four-way vehicle warehousing system with chain type machine

Abstract

The invention relates to the technical field of four-way vehicle warehouse-in and warehouse-out dispatching, in particular to a four-way vehicle warehouse system dispatching method and device with a chain-type machine, and the method refines the business scene of four-way vehicle dispatching system research, proposes a corresponding warehouse-in and warehouse-out dispatching strategy for the scene with the chain-type machine in front of an elevator, and improves the dispatching efficiency of the four-way vehicle. And corresponding coding, crossing and mutation operations are designed for the task assignment problem in the strategy according to a hybrid heuristic algorithm, so that the problems that no specific warehouse-in and warehouse-out scheduling process exists and the practicability is low in the current warehouse-in and warehouse-out scheduling are solved.

Description

Technical Field

[0001] The invention relates to the technical field of four-way vehicle in-and-out warehouse scheduling, and in particular to a four-way vehicle storage system scheduling method and equipment with a chain machine. Background Art

[0002] The four-way vehicle storage system can be divided into two categories from the perspective of whether there is a chain machine in front of the elevator. One type is that there is no chain machine in front of the elevator stop position on each floor. In this case, the four-way vehicle can only load goods onto the elevator, and each vehicle needs to perform a complete in-and-out task, which is inefficient. The other type is that there is a chain machine (cargo platform) in front of the elevator stop position on each floor. In this case, the four-way vehicle or goods can be put on the elevator separately, and each four-way vehicle does not need to perform a complete in-and-out task, which is highly efficient and widely used.

[0003] Yang Wei et al. studied the optimization method of compound operation scheduling of four-way shuttle system under the same-layer operation mode in the patent application (CN116776714A). Xu Liyun et al. studied the scheduling decision method of cross-layer shuttle storage and retrieval system in the patent application (CN116739263A), and solved the problems of task sorting, equipment scheduling and cargo allocation at the same time. Wu Lianghong et al. studied the order sorting optimization method of double-deep four-way shuttle under the constraint of cargo dumping in the patent application (CN111626516B), established an integer programming model, and used an improved genetic algorithm to solve it. However, the existing related four-way car scheduling technology does not specifically divide and introduce the above two different business scenarios, nor does it involve specific inbound and outbound scheduling processes. It has theoretical guiding significance, but it is not very practical. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a scheduling method and equipment for a four-way vehicle storage system with a chain machine, so as to overcome the problem of low practicality in the current in-and-out scheduling, which has no specific in-and-out scheduling process.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] On the one hand, the present application provides a scheduling method for a four-way vehicle storage system with a chain machine, comprising:

[0007] Monitor the host computer in real time to obtain task requests; wherein the task requests include: inbound tasks and outbound tasks;

[0008] If the task request is a warehouse-out task, the task request is allocated to the four-way vehicle by a hybrid heuristic algorithm;

[0009] After the four-way vehicle completes the task request, updating the cargo platform information;

[0010] If the task request is a warehousing task, obtaining the elevator number and the target platform number according to the task request;

[0011] According to the elevator number and the target platform number, detecting whether the elevator and the target platform are in an idle state;

[0012] If so, the goods are transported to the target platform by the elevator, and the task request is assigned to the four-way vehicle by a hybrid heuristic algorithm to complete the task request.

[0013] Further, the method described above, after the four-way vehicle completes the task request, further includes:

[0014] Detect whether there is a warehousing task, if so, control the four-way vehicle to execute the warehousing task, and update the cargo platform information after the warehousing task is completed.

[0015] Furthermore, in the above method, the step of allocating the task request to the four-way vehicle by using a hybrid heuristic algorithm comprises:

[0016] Determine all task combinations of the task request according to a scheduling heuristic algorithm;

[0017] Determine the task paths of all the task combinations according to the path planning algorithm, and determine the optimal task paths of all the task combinations;

[0018] According to the optimal task paths of all the task combinations, the optimal task combination of the task request is determined by the scheduling heuristic algorithm, and the optimal task combination is allocated to the four-way vehicle.

[0019] Furthermore, in the above method, determining all task combinations of the task request according to a scheduling heuristic algorithm includes:

[0020] encoding the task request, the four-way vehicle, and the elevator according to the scheduling heuristic algorithm;

[0021] All task combinations of the task request are determined according to the code.

[0022] Furthermore, in the method described above, determining the task paths of all the task combinations according to the path planning algorithm, and determining the optimal task paths of all the task combinations, includes:

[0023] According to a pre-established map of the storage warehouse, a task path for all the task combinations according to a path planning algorithm;

[0024] The time of the task paths of all the task combinations is calculated, and the task path with the shortest time is determined as the optimal task path.

[0025] Furthermore, the method described above, determining the optimal task combination of the task request by the scheduling heuristic algorithm according to the optimal task path of all the task combinations, and allocating the optimal task combination to the four-way vehicle, includes:

[0026] Determining the task completion time of all the task combinations according to the optimal task paths of all the task combinations;

[0027] Determining fitness values ​​of all the task combinations according to the task completion times of all the task combinations;

[0028] An optimal task combination of the task request is determined through a binary tournament operator, and the optimal task combination is allocated to the four-way vehicle.

[0029] Furthermore, the above method further includes:

[0030] Performing cross-operation on the task request at the task level through the POX cross-operator;

[0031] The encoding of the task request is adjusted by a basic bit variation method.

[0032] On the other hand, the present application provides a four-way vehicle storage system scheduling device with a chain machine, including a processor and a memory, wherein the processor is connected to the memory:

[0033] Wherein, the processor is used to call and execute the program stored in the memory;

[0034] The memory is used to store the program, and the program is used at least to execute any one of the above-mentioned scheduling methods for a four-way vehicle storage system with a chain machine.

[0035] The beneficial effects of the present invention are:

[0036] This application first monitors the host computer in real time to obtain task requests, where the task requests include: inbound tasks and outbound tasks. If the task request is an outbound task, the task request is assigned to the four-way vehicle through a hybrid heuristic algorithm. After the four-way vehicle completes the task request, the cargo platform information is updated; if the task request is an inbound task, the elevator number and the target platform number are obtained according to the task request. According to the elevator number and the target platform number, it is detected whether the elevator and the target platform are in an idle state. If so, the goods are transported to the target platform by the elevator, and the task request is assigned to the four-way vehicle through a hybrid heuristic algorithm to complete the task request. In this application, the business scenarios of the four-way vehicle scheduling system are refined, and corresponding inbound and outbound scheduling strategies are proposed for the scenario where there is a chain machine in front of the elevator. According to the hybrid heuristic algorithm, corresponding encoding, crossover and mutation operations are designed for the task assignment problem in the strategy, which solves the problem of low practicality in the current inbound and outbound scheduling, which has no specific inbound and outbound scheduling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a flow chart provided by an embodiment of a method for dispatching a four-way vehicle storage system with a chain machine of the present invention;

[0039] Figure 2 It is a hybrid heuristic algorithm flow chart provided by an embodiment of a scheduling method for a four-way vehicle storage system with a chain machine of the present invention;

[0040] Figure 3 It is a flow chart of the division of outbound task procedures provided by an embodiment of a scheduling method for a four-way vehicle storage system with a chain machine of the present invention;

[0041] Figure 4 It is a POX crossover operator flow chart provided by an embodiment of a scheduling method for a four-way vehicle storage system with a chain machine of the present invention;

[0042] Figure 5 It is a basic position variation flow chart provided by an embodiment of a dispatching method for a four-way vehicle storage system with a chain machine of the present invention;

[0043] Figure 6 It is a structural schematic diagram provided by an embodiment of a dispatching device for a four-way vehicle storage system with a chain machine of the present invention. DETAILED DESCRIPTION

[0044] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0045] Figure 1 This is a flowchart provided by an embodiment of a method for dispatching a four-way vehicle storage system with a chain machine of the present invention. Figure 1 , this embodiment may include the following steps:

[0046] S1. Monitor the host computer in real time to obtain task requests; task requests include: inbound tasks and outbound tasks.

[0047] S2. If the task request is a warehouse-out task, the task request is assigned to the four-way vehicle through a hybrid heuristic algorithm.

[0048] S3. After the four-way vehicle completes the task request, the cargo platform information is updated.

[0049] S4. If the task request is a warehousing task, the elevator number and the target platform number are obtained according to the task request.

[0050] S5. According to the elevator number and the target platform number, detect whether the elevator and the target platform are in an idle state.

[0051] S6. If yes, the goods are transported to the target platform by the elevator, and the task request is assigned to the four-way vehicle through the hybrid heuristic algorithm to complete the task request.

[0052] It can be understood that this embodiment first monitors the host computer in real time to obtain task requests, wherein the task requests include: inbound tasks and outbound tasks. If the task request is an outbound task, the task request is assigned to the four-way vehicle through a hybrid heuristic algorithm, and the cargo platform information is updated after the four-way vehicle completes the task request; if the task request is an inbound task, the elevator number and the target platform number are obtained according to the task request, and the elevator and the target platform are detected to see whether they are in an idle state according to the elevator number and the target platform number. If so, the goods are transported to the target platform through the elevator, and the task request is assigned to the four-way vehicle through a hybrid heuristic algorithm to complete the task request. In this embodiment, the business scenarios of the four-way vehicle scheduling system are refined, and the corresponding inbound and outbound scheduling strategies are proposed for the scenario where there is a chain machine in front of the elevator, and the corresponding encoding, crossover and mutation operations are designed for the task assignment problem in the strategy according to the hybrid heuristic algorithm, which solves the problem of low practicality in the current inbound and outbound scheduling, which does not have a specific inbound and outbound scheduling process.

[0053] Preferably, after step S3, the method further includes:

[0054] Check whether there is a warehousing task. If so, control the four-way vehicle to perform the warehousing task, and update the cargo platform information after the warehousing task is completed.

[0055] It is understandable that in order to save more time, after the four-way vehicle completes the outbound task, if an inbound task is detected, the four-way vehicle that has completed the outbound task is directly controlled to perform the inbound task, thereby improving the inbound and outbound efficiency.

[0056] Preferably, the task requests are assigned to the four-way vehicles by a hybrid heuristic algorithm, including:

[0057] Determine all task combinations of task requests based on a scheduling heuristic algorithm;

[0058] Determine the task paths of all task combinations according to the path planning algorithm, and determine the optimal task paths of all task combinations;

[0059] According to the optimal task paths of all task combinations, the optimal task combination of task requests is determined through a scheduling heuristic algorithm, and the optimal task combination is allocated to the four-way vehicles.

[0060] It can be understood that the hybrid heuristic algorithm is divided into two parts: one is the scheduling heuristic algorithm used to solve the outbound task dispatching problem, and the other is the path planning algorithm to solve the path planning problem. The relationship between the two is as follows: Figure 2 shown.

[0061] Firstly, the four-way vehicle scheduling problem is modeled, the scheduling problems involved are abstracted, and mathematical formulas are used to describe them intuitively. The objective function and related constraints to be solved are determined, and a specific scheduling heuristic algorithm is used to solve it in the subsequent process. During the solution process, the corresponding path planning algorithm results under different task combinations are used as feedback for comparison, and then the optimal solution is selected. It can be understood that the four-way car scheduling problem is transformed into a six-stage workshop scheduling problem, that is, the i-th task can be equivalent to the 6i-5, 6i-4, 6i-3, 6i-2, 6i-1, and 6i-th processes, and each process after equivalent can only be assigned to one device at the same time; one device can only process one device at the same time; each process arrives after the system operation time; the front and back relationship between the processes under the same task; the start time of the current process in the same task is not less than the start time of the previous process; the start time of the current previous process in the same task does not exceed the start time of the previous process plus the operation time of the previous process; the four-way car numbers are the same in the first and third processes of the same task; the start time of each process under the same workpiece is the sum of the start time and operation time of the previous process. In addition, when the process is the 2nd, 4th, and 6th, the waiting time for the four-way car to the elevator must be added.

[0062] Secondly, in the path planning stage, the actual path planning problem is abstracted, a suitable map is established, obstacle avoidance measures are determined during multi-vehicle operation, and the cost indicators in the path calculation process are clarified. Different task combinations are calculated using specific path planning algorithms to obtain the optimal path and time consumption under this combination, which are fed back to the scheduling heuristic algorithm for further comparison.

[0063] Finally, the scheduling heuristic algorithm is used for multiple iterations. In each iteration, a better solution is obtained by comparing the path results. Finally, an optimal solution for the target value is selected from multiple better solutions, and the task dispatching plan corresponding to this optimal solution is taken as the optimal solution.

[0064] Preferably, all task combinations of the task request are determined according to the scheduling heuristic algorithm, including:

[0065] Encode the task requests, four-way vehicles, and elevators according to the scheduling heuristics;

[0066] Determine all task combinations of task requests based on the encoding.

[0067] It can be understood that the coding format is as shown in Table 1, wherein the outbound task number represents the unique identification number of the outbound task, and according to the most complicated situation in the execution process of the outbound task, it is divided into 6 processes.

[0068] Table 1 Coding format

[0069]

[0070] Label: D represents the outbound task number, N represents the total number of tasks, S represents the four-way vehicle number, C represents the total number of four-way vehicles, L represents the elevator number, and R represents the total number of elevators.

[0071] In specific practice, process 1: randomly assign a four-way vehicle from the four-way vehicle set to the current task. Process 2: assign the corresponding elevator to the four-way vehicle in process 1, and the elevator picks up the four-way vehicle to the floor where the goods are located. Process 3: the four-way vehicle arrives at the cargo floor to pick up the goods, that is, the four-way vehicle number in process 3 is the same as that in process 1. If the floor where the assigned four-way vehicle is located happens to be the same as the cargo floor, the elevator does not need to perform the pick-up and delivery operation, that is, the operation of process 2 is not performed. Process 4: assign the elevator, after the four-way vehicle in process 3 picks up the goods, it puts the goods on the corresponding cargo platform, and the assigned elevator completes the pick-up and delivery task. If the pickup floor and the target floor are on the same floor, the current elevator pick-up and delivery operation is not performed. Process 5: after the elevator in process 4 picks up the goods to the target floor, the corresponding four-way vehicle is assigned to transport the goods to the corresponding cargo floor. Process 6: assign the elevator, if the four-way vehicle assigned in process 5 is not on the target floor, the assigned elevator needs to perform the pick-up and delivery operation.

[0072] like Figure 3 As shown, this is an example of the division of processes for a certain outbound task. The goods to be outbound are on the second floor, and the four-way vehicle assigned by process 1 is on the third floor. At this time, the four-way vehicle on the third floor is required to reach the second floor where the goods are located via the elevator assigned by process 2. The four-way vehicle assigned by process 3 (the vehicle numbers assigned by processes 1 and 3 are the same) picks up the goods and transports them to the corresponding cargo location platform. The goods are picked up by the elevator assigned by process 4 and sent to the first-floor inbound and outbound cargo location platform. The four-way vehicle assigned by process 5 picks up the goods from the corresponding cargo location platform and transports them to the corresponding cargo location. If the four-way vehicle assigned by process 5 is not on the current floor, the elevator assigned by process 6 is required to pick up the four-way vehicle and send it to the corresponding floor.

[0073] It should be noted that the coding form can not only express the most complex task situations mentioned above, but also be backward compatible and express simple tasks, with good generalization. For example, when the four-way vehicle assigned to this outbound task is on the second floor, where the goods are located, and there are vehicles on the first floor, where the inbound and outbound floors, to perform delivery operations, the 3rd, 4th, and 5th processes in the 6 processes can be used to express it. The four-way vehicle picks up the goods on the second floor and puts them on the corresponding platform. The goods are hoisted on the platform, and the hoist carries the goods to the inbound and outbound floors. The vehicles on the first floor pick up the goods and transport them to the target platform.

[0074] A four-way vehicle storage system is taken as the research object. The scale is 51 rows and 19 columns with 3 floors. There are 4 elevators in total, numbered L1, L2, L3, and L4. L1 is used for warehousing, and L2, L3, and L4 are used for warehousing. There are 4 four-way vehicles, numbered S1, S2, S3, and S4.

[0075] There are 5 outbound tasks, and the detailed information is shown in Table 2. The format of the starting cargo location and the target cargo location is in the form of ZXY. For example, the starting cargo location of the task numbered 1 is 3-23-14, which means the location of the 23rd row and 14th column on the 3rd floor, and the target cargo location is 1-50-2, which means the location of the platform on the 50th row and 2nd column on the 1st floor. The task and storage scale information are combined for encoding, and the specific format is shown in Table 3. The order of the task numbers is randomly arranged, and the equipment numbers corresponding to each process are also randomly assigned according to the corresponding equipment type.

[0076] Table 2 5 outbound tasks

[0077] serial number Starting location Target cargo location Type of assignment Task No. 1 3-23-14 1-50-2 Out of stock 10001 2 3-35-13 1-50-2 Out of stock 10002 3 3-7-9 1-50-2 Out of stock 10003 4 2-34-14 1-50-2 Out of stock 10004 5 3-3-18 1-50-2 Out of stock 10005

[0078] Table 3 Corresponding codes of the five outbound tasks

[0079]

[0080]

[0081] Preferably, determining the task paths of all task combinations according to the path planning algorithm, and determining the optimal task paths of all task combinations, includes:

[0082] According to the pre-established map of the storage warehouse, the task paths of all task combinations are calculated according to the path planning algorithm;

[0083] The time of the task paths of all task combinations is calculated, and the task path with the shortest time is determined as the optimal task path.

[0084] It is understandable that the path heuristic algorithm uses the common A* algorithm for solving, and uses the obtained task execution time as the fitness value to participate in evolutionary computing in the genetic algorithm.

[0085] Preferably, according to the optimal task paths of all task combinations, the optimal task combination of the task request is determined by a scheduling heuristic algorithm, and the optimal task combination is allocated to the four-way vehicle, including:

[0086] Determine the task completion time of all task combinations based on the optimal task paths of all task combinations;

[0087] Determine the fitness values ​​of all task combinations according to the task completion time of all task combinations;

[0088] The optimal task combination of task requests is determined through the binary tournament operator, and the optimal task combination is assigned to the four-way vehicle.

[0089] It can be understood that each code corresponds to a feasible solution. During the evolution process, crossover and mutation operations are selected according to the fitness value. The objective function to be optimized in this article is to minimize the maximum task completion time. For the convenience of operation, the inverse of the objective function value is taken as the fitness value, as shown in the following formula.

[0090] Fit(f(x))=1 / f(x)

[0091] Among them, the task completion time is obtained by running the optimal path obtained by the path planning algorithm.

[0092] The binary tournament operator is used for selection. Two task codes are randomly selected in the code, and the fitness of the two is compared. The larger one is put into the new population until it meets a certain size.

[0093] Preferably, it also includes:

[0094] Perform cross-operation on task requests at the task level through the POX cross-operator;

[0095] The encoding of the task request is adjusted by basic bit mutation method.

[0096] It is understandable that if Figure 4 As shown, the POX (Precedence Operation Crossover) crossover operator is selected to perform crossover operation at the task level, and there are three main steps.

[0097] First, randomly divide the related task set into two subsets TS1 and TS2 of similar length. Then select any two parent chromosomes P1 and P2, copy the tasks belonging to set 1 in parent P1 to the offspring Z1, keeping the position unchanged, and copy the tasks belonging to set 2 in parent P2 to the offspring Z1, keeping the order unchanged. Finally, copy the tasks belonging to set 2 in parent P1 to the offspring Z2, keeping the position unchanged, and copy the tasks belonging to set 2 in parent P2 to the offspring Z2, keeping the order unchanged.

[0098] Choose the basic bit mutation method, such as Figure 5 Randomly select a chromosome, select any task, and change the equipment number corresponding to one or several of the six processes to which it belongs.

[0099] The present invention also provides a four-way vehicle storage system dispatching device with a chain machine, which is used to implement the above method embodiment. Figure 6 1 is a schematic diagram of a structure of a four-way vehicle storage system dispatching device with a chain machine according to an embodiment of the present invention. Figure 6 As shown, the four-way vehicle storage system scheduling device with a chain machine in this embodiment includes a processor 21 and a memory 22, and the processor 21 is connected to the memory 22. The processor 21 is used to call and execute the program stored in the memory 22; the memory 22 is used to store the program, and the program is at least used to execute the four-way vehicle storage system scheduling method with a chain machine in the above embodiment.

[0100] The specific implementation scheme of the four-way vehicle storage system scheduling equipment with a chain machine provided in the embodiment of the present application can refer to the implementation scheme of the four-way vehicle storage system scheduling method with a chain machine in any of the above embodiments, which will not be repeated here.

[0101] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0102] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0103] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0104] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0106] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0107] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0109] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A dispatching method for a four-way vehicle storage system with a chain conveyor, characterized in that: include: Monitor the host computer in real time to obtain task requests; wherein the task requests include: inbound tasks and outbound tasks; If the task request is a warehouse-out task, the task request is allocated to the four-way vehicle by a hybrid heuristic algorithm; After the four-way vehicle completes the task request, updating the cargo platform information; If the task request is a warehousing task, then obtaining the elevator number and the target platform number according to the task request; According to the elevator number and the target platform number, detecting whether the elevator and the target platform are in an idle state; If so, the goods are transported to the target platform by the elevator, and the task request is assigned to the four-way vehicle by a hybrid heuristic algorithm to complete the task request.

2. The method according to claim 1, characterized in that After the four-way vehicle completes the task request, the method further includes: Detect whether there is a warehousing task, if so, control the four-way vehicle to execute the warehousing task, and update the cargo platform information after the warehousing task is completed.

3. The method according to claim 2, characterized in that The method of allocating the task request to the four-way vehicle by using a hybrid heuristic algorithm includes: Determine all task combinations of the task request according to a scheduling heuristic algorithm; Determine the task paths of all the task combinations according to the path planning algorithm, and determine the optimal task paths of all the task combinations; According to the optimal task paths of all the task combinations, the optimal task combination of the task request is determined by the scheduling heuristic algorithm, and the optimal task combination is allocated to the four-way vehicle.

4. The method according to claim 3, characterized in that Determining all task combinations of the task request according to the scheduling heuristic algorithm includes: encoding the task request, the four-way vehicle, and the elevator according to the scheduling heuristic algorithm; All task combinations of the task request are determined according to the code.

5. The method according to claim 4, characterized in that Determining the task paths of all the task combinations according to the path planning algorithm, and determining the optimal task paths of all the task combinations, includes: According to a pre-established map of the storage warehouse, a task path for all the task combinations according to a path planning algorithm; The time of the task paths of all the task combinations is calculated, and the task path with the shortest time is determined as the optimal task path.

6. The method according to claim 5, characterized in that The step of determining the optimal task combination of the task request by the scheduling heuristic algorithm according to the optimal task path of all the task combinations, and allocating the optimal task combination to the four-way vehicle comprises: Determining the task completion time of all the task combinations according to the optimal task paths of all the task combinations; Determining fitness values ​​of all the task combinations according to the task completion times of all the task combinations; An optimal task combination of the task request is determined through a binary tournament operator, and the optimal task combination is allocated to the four-way vehicle.

7. The method according to claim 6, characterized in that Also includes: Performing cross-operation on the task request at the task level through the POX cross-operator; The encoding of the task request is adjusted by a basic bit variation method.

8. A four-way vehicle storage system dispatching device with a chain machine, characterized in that: The invention comprises a processor and a memory, wherein the processor is connected to the memory: Wherein, the processor is used to call and execute the program stored in the memory; The memory is used to store the program, and the program is at least used to execute the scheduling method of the four-way vehicle storage system with chain machine as described in any one of claims 1-7.

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