Warehouse logistics transportation task scheduling system and method

Abstract

The invention belongs to the technical field of logistics transportation, and particularly relates to a warehouse logistics transportation task scheduling system and method, and the system comprises a route planning module which is used for planning a transportation route based on a transportation task starting place and a transportation task destination; the line processing module divides the transportation line into at least one road section according to the branch nodes; the branch nodes are intersections of at least two road sections; the marking module is used for marking overlapping sections in the road section; the overlapped section is an overlapped part of at least two transportation lines in a preset time period; the calculation module is used for predicting the arrival time of the transportation line at the starting point and the ending point of each road section; the time difference of the starting points of the overlapping sections is calculated through the calculation module, then the time difference and the interval threshold value are analyzed through the decision module, and when the time difference is smaller than the interval threshold value, a control signal needs to be sent out to control any transport vehicle to wait for afflux, and collision accidents are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics and transportation, and specifically relates to a storage logistics and transportation task scheduling system and method. Background Art

[0002] Currently, there are intelligent logistics vehicles such as AGV, AMR, laser automatic forklifts, outdoor automatic trailers, etc. in the field of intelligent logistics. Different companies will design individual plans according to their own needs in logistics vehicle scheduling and management.

[0003] For example, the patent with publication number CN117151576A discloses a logistics vehicle dispatch management system and method, including a vehicle storage module, a route planning module, a process setting module, a repeat marking module, a parallel modification module, a sequence modification module and a wireless communication module. The present invention has the effect of being able to automatically correct the imported vehicle route, which saves manpower and is not prone to errors. Specifically, the application presets the vehicle preset route information through the route planning module, then performs node segmentation on the vehicle preset route information, then marks the repeated section information based on the repeat marking module, uses the parallel modification module to modify the repeated section information to be replaceable section information, and finally modifies the vehicle preset route information according to the calculated modification plan;

[0004] In the prior art, the scheduling and management of logistics transportation tasks is based on the premise that there are no overlapping sections or the shortest time is used as the premise for route planning. However, route planning is calculated based on the existing transportation tasks in the current system at the current moment, without considering whether the subsequent new transportation tasks and their corresponding transportation routes will lead to an extension of the time consumed by the current transportation tasks. Therefore, even if the existence of overlapping sections or the shortest time is used as the premise for updating the route, it is necessary to set the prerequisite, that is, the subsequent new transportation tasks shall not overlap with the current transportation routes, otherwise it may cause the estimated time consumption to be extended; in the actual application process, due to the limited area of ​​the factory area, the activity range and routes of the AGV carts are limited, resulting in the inevitable overlap between the transportation routes of multiple AGV carts, which will lead to the overall reduction of the efficiency of logistics transportation tasks;

[0005] To this end, the present invention provides a warehousing logistics transportation task scheduling system and method. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a storage logistics transportation task scheduling system and method described in the present invention comprises:

[0008] Route planning module, which plans transportation routes based on the origin and destination of transportation tasks;

[0009] A route processing module, which divides the transport route into at least one section according to a branch node; the branch node is a junction of at least two sections;

[0010] A marking module, used to mark the overlapping section in the road section; the overlapping section is the overlapping part of at least two transportation routes within a preset time period;

[0011] A calculation module is used to predict the arrival time of the transport route at the starting point and the end point of each section;

[0012] A decision module for sending a control signal to control any transport vehicle;

[0013] The method of sending a control signal to control any transport vehicle is:

[0014] When the planned transport route overlaps with the ongoing transport route, calculate the time difference between at least two transport routes arriving at the starting point of the overlapping segment:

[0015] When the time difference is less than the interval threshold, the decision module sends a control signal to any transport vehicle;

[0016] When the time difference is greater than or equal to the interval threshold, the decision module does not send a control signal;

[0017] When any transport vehicle receives the control signal, it waits to merge at the overlapping section.

[0018] Preferably, the calculation module includes a time calculation unit and a time consumption calculation unit; the time calculation unit is used to calculate the arrival time of the starting point and the end point of each section in the transportation route; the route consumption calculation unit is used to calculate the total time consumption of the transportation route;

[0019] The method for planning the transportation route by the route planning module is:

[0020] Planning at least one available transportation route based on the origin and destination of the transportation task;

[0021] The total time consumption of at least one available transportation route is calculated using the route time consumption calculation unit, which is recorded as ;

[0022] Select The available transport route corresponding to the minimum value is used as the transport route.

[0023] Preferably, the decision module includes a decision unit and an analysis unit, the decision unit is used to send a control signal, and the analysis unit is used to receive a feedback signal from the transport vehicle;

[0024] The transport vehicle is provided with a wireless communication module, and the wireless communication module is used to receive control signals and send feedback signals.

[0025] Preferably, it further comprises a vehicle management module, wherein the vehicle management module is used to store the transport vehicle information, wherein the transport vehicle information includes the transport vehicle number;

[0026] When the decision unit sends a control signal:

[0027] If the transport vehicle does not send a feedback signal to the decision module within the specified time, it is considered as no response, and the transport vehicle is manually taken over;

[0028] When the transport vehicle sends a feedback signal to the decision module within the specified time, it is regarded as a response.

[0029] Preferably, the wireless communication module is also used to periodically send real-time positioning information;

[0030] It also includes an early warning module, which is used to generate a first alarm signal or a second alarm signal:

[0031] When the decision module sends a control signal and does not receive a feedback signal within a specified time, the early warning module generates a first alarm signal;

[0032] When the time interval of the real-time positioning information sent by any of the transport vehicles is greater than the timing, the early warning module generates a second alarm signal.

[0033] Preferably, the method for the decision module to send a control signal is:

[0034] Obtain the numbers of the transport vehicles, cargo status and traffic flow of the sections corresponding to at least two transport routes with overlapping sections;

[0035] According to the formula:

[0036]

[0037] in, , , are weight coefficients, Indicates the status of the goods. If the status of the goods is urgent, then ,otherwise , Indicates the flow rate corresponding to the road section where any transport vehicle is located; Indicates the priority value of any transport vehicle, Indicates the waiting time of any transport vehicle;

[0038] Calculate the priority values ​​corresponding to the two transport vehicles and record them as , ;

[0039] when , then to The corresponding transport vehicle sends a control signal;

[0040] when , then to The corresponding transport vehicle sends a control signal;

[0041] when ,or , then randomly send a control signal to any transport vehicle.

[0042] Preferably, when any of the transport vehicles receives a control signal and waits at the starting point of the overlapping section, the total time taken to reach the destination of the transport route is updated:

[0043] According to the formula:

[0044]

[0045] in, represents the initial total time consumed, Indicates the total time taken to update. Any transport vehicle, Indicates the number of times any transport vehicle waits.

[0046] Preferably, the calculation module further includes an adaptive adjustment unit, and the adaptive adjustment unit is used to update the transportation route.

[0047] Preferably, the method for updating the transport route is:

[0048] Plan multiple updated transportation routes based on the route planning module;

[0049] Get the updated total time to reach the destination by transport route ;

[0050] Calculate the total time taken to update multiple transport routes separately ;

[0051] Select The minimum value is recorded as and the total time taken to update Compare:

[0052] like , then select the total time The corresponding updated transport route is used as the transport route, where is the correction factor.

[0053] A method for scheduling warehousing logistics and transportation tasks, comprising the following steps:

[0054] S1: Plan the transportation route according to the origin and destination of the transportation task;

[0055] S2: segment the transport routes;

[0056] S3: Determine whether there is an overlapping section between the transport route and other transport routes. If so, determine whether a collision accident will occur. If not, no determination is required.

[0057] S4: When there is an overlapping section, determine whether the transport vehicles executing the two transport routes will cause a collision accident. If so, output a control signal to control any one of the transport vehicles. If not, do not output a control signal.

[0058] The beneficial effects of the present invention are as follows:

[0059] 1. A warehousing logistics transportation task scheduling system and method described in the present invention plans a transportation route based on the origin and destination of the transportation task, and then divides the transportation route based on the branch nodes existing in the transportation route to obtain multiple sections. It is worth noting that the combination of the head and tail of multiple sections is the transportation route. Based on the obtained multiple sections, the estimated arrival time of the starting point and the end point of the section is obtained by simulation. If the planned transportation route has an overlapping section with the ongoing transportation route, the time difference of the starting point of the overlapping section is calculated by the calculation module, and the time difference is calculated by the calculation module. Then, the decision module is used to analyze the size of the time difference and the interval threshold. When the time difference is less than the interval threshold, it is necessary to send a control signal to control any transport vehicle to wait for merging to avoid collision accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The present invention will be further described below in conjunction with the accompanying drawings.

[0061] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0062] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0063] like Figure 1As shown, a storage logistics transportation task scheduling system and method described in an embodiment of the present invention includes a route planning module, which plans a transportation route based on the origin and destination of the transportation task; a route processing module, which divides the transportation route into at least one section according to the branch node; the branch node is the intersection of at least two sections; a marking module, which is used to mark the overlapping section in the section; the overlapping section is the overlapping part of at least two transportation routes within a preset time period; a calculation module, which is used to predict the arrival time of the transportation route at the starting point and the end point of each section; a decision module, which is used to send a control signal to control any transportation vehicle; the method of sending a control signal to control any transportation vehicle is: when the planned transportation route and the ongoing transportation route have an overlapping section, the time difference of at least two transportation routes arriving at the starting point of the overlapping section is calculated:

[0064] When the time difference is less than the interval threshold, the decision module sends a control signal to any transport vehicle;

[0065] When the time difference is greater than or equal to the interval threshold, the decision module does not send a control signal;

[0066] When any transport vehicle receives the control signal, it waits to merge at the overlapping section.

[0067] In the prior art, the scheduling and management of logistics transportation tasks is based on the premise that there are no overlapping sections or the shortest time is used as the premise for route planning. However, route planning is calculated based on the existing transportation tasks in the current system at the current moment, without considering whether the subsequent new transportation tasks and their corresponding transportation routes will lead to an extension of the time consumed by the current transportation tasks. Therefore, even if the existence of overlapping sections or the shortest time is used as the premise for updating the route, it is necessary to set the prerequisite, that is, the subsequent new transportation tasks shall not overlap with the current transportation routes, otherwise it may cause the estimated time consumption to be extended; in the actual application process, due to the limited area of ​​the factory area, the activity range and routes of the AGV carts are limited, resulting in the inevitable overlap between the transportation routes of multiple AGV carts, which will lead to the overall reduction of the efficiency of logistics transportation tasks;

[0068] Based on the above, in one embodiment of the present invention, a transport route is planned based on the origin and destination of the transport task, and then the transport route is divided based on the branch nodes existing in the transport route to obtain multiple sections. It is worth noting that the combination of the head and tail of multiple sections is the transport route. Based on the obtained multiple sections, the estimated arrival time of the starting point and the end point of the section is obtained by simulation. If the planned transport route has an overlapping section with the ongoing transport route, the time difference of the starting point of the overlapping section is calculated by the calculation module. That is to say, assuming that there are transport routes A and B, if there are overlapping sections between transport routes A and B, and the AGV vehicles executing transport routes A and B have the same or similar starting time in the overlapping section, friction may occur. Collision risk. In order to avoid this risk, the calculation module calculates the time difference, and then the decision module analyzes the size of the time difference and the interval threshold. For example, in theory, the interval between the AGVs executing the two transport routes A and B arriving at the starting point of the overlapping section is at least 1 minute to avoid collision. Then the calculated time difference is compared with 1 minute. If the time difference is less than 1 minute, it means that the two AGVs may have a collision risk, and the decision module needs to send a control signal to control one of the transport vehicles. If the time difference is greater than 1 minute, it means that the two AGVs will pass alternately, and no control signal needs to be sent; the speed of the AGVs remains consistent; the overlapping section belongs to one of the multiple sections;

[0069] In addition, it is worth noting that in the prior art, transport vehicles also have the function of avoiding collisions, such as identifying road conditions through sensors. However, in actual use, if the goods loaded in the transport vehicle are fragile products, assuming that a transport vehicle recognizes the presence of other transport vehicles when merging into the overlapping section, it will brake suddenly. Firstly, this may cause damage to the loaded goods. Secondly, if there are other transport vehicles following closely behind the braked transport vehicle, it may also cause accidents such as rear-end collisions, and the integrity of the loaded goods cannot be guaranteed.

[0070] In one embodiment, the calculation module includes a time calculation unit and a time consumption calculation unit; the time calculation unit is used to calculate the arrival time of the starting point and the end point of each section in the transportation route; the route consumption calculation unit is used to calculate the total time consumption of the transportation route;

[0071] The method for planning the transportation route by the route planning module is:

[0072] Planning at least one available transportation route based on the origin and destination of the transportation task;

[0073] The total time consumption of at least one available transportation route is calculated using the route time consumption calculation unit, which is recorded as ;

[0074] Select The available transport route corresponding to the minimum value is used as the transport route.

[0075] Based on the above, in the prior art, transportation routes are planned based on the premise of the shortest total time consumption, and there is a lack of consideration for possible situations in the transportation process. Therefore, the total time consumption during planning may not be accurate, and may even cause the actual total time consumption to be much greater than the planned total time consumption. In one embodiment of the present invention, the total time consumption of multiple available transportation routes is calculated by a calculation module, that is, the total time consumption of multiple available transportation routes is calculated based on the departure time of the origin and the arrival time of the destination. Among them, in the above calculation method, only the ongoing transportation routes in the current transportation network are considered. Based on the above, the best transportation route based on the current transportation network traffic, that is, the route with the lowest time consumption, is calculated as the transportation route.

[0076] In one embodiment, the decision module includes a decision unit and an analysis unit, the decision unit is used to send a control signal, and the analysis unit is used to receive a feedback signal from the transport vehicle;

[0077] The transport vehicle is provided with a wireless communication module, and the wireless communication module is used to receive control signals and send feedback signals.

[0078] Since it is difficult to avoid interference with the transport route when the AGV is performing transport tasks in the transport network, in one embodiment of the present invention, after planning the transport route, multiple road sections are obtained by segmentation. When there are overlapping sections, the calculation module calculates the time difference between the starting points of the overlapping sections of at least two transport routes, and then the decision unit in the decision module sends a control signal to any transport vehicle. When any transport vehicle has not arrived at the starting point of the overlapping section, it receives the control signal through the wireless communication module and responds to the analysis module, thereby realizing control of any transport vehicle, so that after receiving the control signal, it waits to merge at the starting point of the overlapping section, thereby preventing the time difference between the two AGVs arriving at the starting point of the overlapping section from being less than the interval threshold, thereby causing a collision accident between the two AGVs.

[0079] In one embodiment, it further includes a vehicle management module, wherein the vehicle management module is used to store transport vehicle information, wherein the transport vehicle information includes a transport vehicle number;

[0080] When the decision unit sends a control signal:

[0081] If the transport vehicle does not send a feedback signal to the decision module within the specified time, it is considered as no response, and the transport vehicle is manually taken over;

[0082] When the transport vehicle sends a feedback signal to the decision module within the specified time, it is regarded as a response.

[0083] In order to facilitate the management of multiple transport vehicles, in one embodiment of the present invention, a vehicle management module is set up, and the vehicle management module is used to record and store the information of each transport vehicle, wherein the transport vehicle information specifically refers to the transport vehicle number. When the analysis unit in the decision module determines that two transport vehicles executing the transport route will arrive at the starting point of the overlapping section at a similar time, in order to prevent the two transport vehicles from having a collision accident, the decision unit sends a control signal to any transport vehicle. In order to prevent any transport vehicle to receive the control signal from failing to obey the management of the decision module, the wireless communication module on the transport vehicle is required to send a feedback signal to the decision module after receiving the control signal. If the analysis unit receives the feedback signal from the transport vehicle to receive the control signal within the specified time, it indicates that the transport vehicle has responded. Otherwise, it indicates that there is a fault in the wireless communication module of the transport vehicle and it may not be able to obey the management of the decision module. At this time, it is necessary to manually take over the transport vehicle to prevent the transport vehicle from not waiting when arriving at the starting point of the overlapping section, causing a collision between the two transport vehicles.

[0084] In one embodiment, the wireless communication module is also used to periodically send real-time positioning information;

[0085] It also includes an early warning module, which is used to generate a first alarm signal or a second alarm signal:

[0086] When the decision module sends a control signal and does not receive a feedback signal within a specified time, the early warning module generates a first alarm signal;

[0087] When the time interval of the real-time positioning information sent by any of the transport vehicles is greater than the timing, the early warning module generates a second alarm signal.

[0088] When any transport vehicle fails to provide feedback to the decision-making module within the specified time after receiving the control signal, it indicates that the wireless communication module of the transport vehicle may be faulty and an alarm is required. In one embodiment of the present invention, when any transport vehicle fails to send a feedback signal within the specified time, the early warning module will generate a first alarm signal. The first alarm signal includes the transport vehicle information, specifically the number of the transport vehicle. When the alarm module shows that any transport vehicle generates the first alarm signal, manual takeover is performed based on the number of the transport vehicle to prevent larger accidents. In addition, in order to achieve supervision of any transport vehicle, any transport vehicle is required to send real-time positioning information regularly. If the time interval for any transport vehicle to send real-time positioning information is greater than the timing, the alarm module generates a second alarm signal. The second alarm signal also includes the number of the transport vehicle. When any transport vehicle generates the second alarm signal, manual takeover is performed.

[0089] In one embodiment, the method for the decision module to send a control signal is:

[0090] Obtain the numbers of the transport vehicles, cargo status and traffic flow of the sections corresponding to at least two transport routes with overlapping sections;

[0091] According to the formula:

[0092]

[0093] in, , , are weight coefficients, Indicates the status of the goods. If the status of the goods is urgent, then ,otherwise , Indicates the flow rate corresponding to the road section where any transport vehicle is located; Indicates the priority value of any transport vehicle, Indicates the waiting time of any transport vehicle;

[0094] Calculate the priority values ​​corresponding to the two transport vehicles and record them as , ;

[0095] when , then to The corresponding transport vehicle sends a control signal;

[0096] when , then to The corresponding transport vehicle sends a control signal;

[0097] when ,or , then randomly send a control signal to any transport vehicle.

[0098] When there are two transport vehicles passing through the starting point of the overlapping section at a similar time, the decision module sends a control signal to control any one of the transport vehicles. Based on actual conditions, it is necessary to determine which transport vehicle to control by sending the control signal in combination with the cargo status of the transport vehicles and the traffic flow of the road section. Assuming that the two transport vehicles are transport vehicle a and transport vehicle b, a control signal is sent to control transport vehicle a, and then transport vehicle b has priority. If the cargo on transport vehicle a is in an emergency state, the decision to give priority to transport vehicle b will result in reduced transportation efficiency. Based on this, in one embodiment of the present invention, the priority values ​​of the transport vehicles corresponding to the two transportation tasks are obtained by calculation, and through data feedback, a control signal is sent to control the transport vehicle corresponding to any transportation route with a lower priority value. In order to avoid the similarity between the data, an error coefficient needs to be added when comparing the priority values ​​of the two transport vehicles. , so that it is convenient for the decision-making module to send control signals to control any transport vehicle;

[0099] It is worth noting that the purpose of obtaining the transport vehicle number is to obtain the status of the goods loaded on any transport vehicle. , , All are artificially set, and the error coefficient It is also artificially set and can be adaptively adjusted.

[0100] In one embodiment, when any of the transport vehicles receives a control signal and waits at the starting point of the overlapping segment, the total time taken to reach the destination of the transport route is updated:

[0101] According to the formula:

[0102]

[0103] in, represents the initial total time consumed, Indicates the total time taken to update. Any transport vehicle, Indicates the number of times any transport vehicle waits.

[0104] When there is an overlapping section between two transport routes and they merge into the overlapping section at a similar time, the decision module sends a control signal to control any transport vehicle. When any transport vehicle responds, it waits at the starting point of the overlapping section. In one embodiment of the present invention, since any transport vehicle is waiting at the starting point of the overlapping section, the total time consumed for the transport route executed by the transport vehicle is bound to change. The route time consumption calculation unit calculates the updated total time consumed for the transport vehicle based on the waiting time and the initial total time consumption, thereby being able to more accurately predict the time when the transport vehicle arrives at the destination, which is beneficial to management.

[0105] In one embodiment, the calculation module further includes an adaptive adjustment unit, and the adaptive adjustment unit is used to update the transportation route.

[0106] After obtaining the updated total time of any transport vehicle, if the updated total time is much greater than the estimated total time and the cargo status is urgent, the transport route needs to be updated to obtain an updated transport route based on the current time.

[0107] It is worth noting that, assuming that vehicle a is waiting at the starting point of the overlapping section, that is, the end point of the road section, and assuming that another vehicle c merges into the road section at this moment, and based on the length of the road section and the speed of vehicle c, the estimated time for vehicle c to arrive at the end point of the road section is obtained. If vehicle a is still in a waiting state when it arrives at the estimated time, vehicle c will also wait, thereby increasing the total time consumed by vehicle c. If the cargo on vehicle c is in an emergency state, the current transportation route of vehicle c can be updated through the adaptive adjustment unit before vehicle c merges into the road section, thereby reducing the total transportation time.

[0108] In one embodiment, the method for updating the transport route is:

[0109] Plan multiple updated transportation routes based on the route planning module;

[0110] Get the updated total time to reach the destination by transport route ;

[0111] Calculate the total time taken to update multiple transport routes separately ;

[0112] Select The minimum value is recorded as and the total time taken to update Compare:

[0113] like , then select the total time The corresponding updated transport route is used as the transport route, where is the correction factor.

[0114] Based on the above, assuming that there is any transport vehicle waiting at the starting point of the overlapping section, if there happens to be another transport vehicle about to merge into the section where the transport vehicle is located, the estimated total time of the other transport vehicle will also increase. In one embodiment of the present invention, multiple updated transport routes are planned according to the route planning module, and then based on the calculation of the total adjustment time of the multiple updated transport routes, the updated transport route corresponding to the minimum value is obtained as the transport route; when , indicating that if the transport vehicle travels along the transport route, the estimated time consumed is much greater than the estimated total time consumed for updating the transport route. In this case, the route planning module adjusts the transport route for the transport vehicle to the updated transport route.

[0115] A method for scheduling warehousing logistics and transportation tasks, comprising the following steps:

[0116] S1: Plan the transportation route according to the origin and destination of the transportation task;

[0117] S2: segment the transport routes;

[0118] S3: Determine whether there is an overlapping section between the transport route and other transport routes. If so, determine whether a collision accident will occur. If not, no determination is required.

[0119] S4: When there is an overlapping section, determine whether the transport vehicles executing the two transport routes will cause a collision accident. If so, output a control signal to control any one of the transport vehicles. If not, do not output a control signal.

[0120] Working principle: The transport route is planned based on the origin and destination of the transport task, and then the transport route is divided based on the branch nodes in the transport route to obtain multiple sections. It is worth noting that the combination of the beginning and the end of multiple sections is the transport route. Based on the obtained multiple sections, the estimated arrival time of the starting point and the end point of the section is obtained through simulation. If the planned transport route has overlapping sections with the ongoing transport route, the time difference of the starting point of the overlapping section is calculated by the calculation module, and the time difference is calculated by the calculation module, and then the decision module is used to analyze the size of the time difference and the interval threshold. When the time difference is less than the interval threshold, a control signal needs to be sent to control any transport vehicle to wait for merging to avoid collision accidents.

[0121] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A warehousing logistics transportation task scheduling system, characterized in that: include: Route planning module, which plans transportation routes based on the origin and destination of transportation tasks; A route processing module, which divides the transport route into at least one section according to the branch nodes; The branch node is the intersection of at least two road sections; A marking module, used for marking overlapping sections in a road segment; The overlapping section is the overlapping section of at least two transport routes within a preset time period; A calculation module is used to predict the arrival time of the transport route at the starting point and the end point of each section; A decision module for sending a control signal to control any transport vehicle; The method of sending a control signal to control any transport vehicle is: When the planned transport route overlaps with the ongoing transport route, calculate the time difference between at least two transport routes arriving at the starting point of the overlapping segment: When the time difference is less than the interval threshold, the decision module sends a control signal to any transport vehicle; When the time difference is greater than or equal to the interval threshold, the decision module does not send a control signal; When any transport vehicle receives the control signal, it waits to merge at the overlapping section.

2. A warehousing logistics transportation task scheduling system according to claim 1, characterized in that: The calculation module includes a time calculation unit and a time consumption calculation unit; the time calculation unit is used to calculate the arrival time of the starting point and the end point of each section in the transportation route; The route time calculation unit is used to calculate the total time consumed by the transport route; The method for planning the transportation route by the route planning module is: Planning at least one available transportation route based on the origin and destination of the transportation task; The total time consumption of at least one available transportation route is calculated using the route time consumption calculation unit, which is recorded as ; Select The available transport route corresponding to the minimum value is used as the transport route.

3. A warehousing logistics transportation task scheduling system according to claim 2, characterized in that: The decision module includes a decision unit and an analysis unit, wherein the decision unit is used to send a control signal, and the analysis unit is used to receive a feedback signal from the transport vehicle; The transport vehicle is provided with a wireless communication module, and the wireless communication module is used to receive control signals and send feedback signals.

4. A warehousing logistics transportation task scheduling system according to claim 1, characterized in that: It also includes a vehicle management module, the vehicle management module is used to store transport vehicle information, the transport vehicle information includes the transport vehicle number; When the decision unit sends a control signal: If the transport vehicle does not send a feedback signal to the decision module within the specified time, it is considered as no response, and the transport vehicle is manually taken over; When the transport vehicle sends a feedback signal to the decision module within the specified time, it is regarded as a response.

5. A warehousing logistics transportation task scheduling system according to claim 3, characterized in that: The wireless communication module is also used to periodically send real-time positioning information; It also includes an early warning module, which is used to generate a first alarm signal or a second alarm signal: When the decision module sends a control signal and does not receive a feedback signal within a specified time, the early warning module generates a first alarm signal; When the time interval of the real-time positioning information sent by any of the transport vehicles is greater than the timing, the early warning module generates a second alarm signal.

6. A warehousing logistics transportation task scheduling system according to claim 5, characterized in that: The method for the decision module to send a control signal is: Obtain the numbers of the transport vehicles, cargo status and traffic flow of the sections corresponding to at least two transport routes with overlapping sections; According to the formula: in, , , are weight coefficients, Indicates the status of the goods. If the status of the goods is urgent, then ,otherwise , Indicates the flow rate corresponding to the road section where any transport vehicle is located; Indicates the priority value of any transport vehicle, Indicates the waiting time of any transport vehicle; Calculate the priority values ​​corresponding to the two transport vehicles and record them as , ; when , then to The corresponding transport vehicle sends a control signal; when , then to The corresponding transport vehicle sends a control signal; when ,or , then randomly send a control signal to any transport vehicle.

7. A warehousing logistics transportation task scheduling system according to claim 6, characterized in that: When any of the transport vehicles receives a control signal and waits at the starting point of the overlapping segment, the total time taken to reach the destination of the transport route is updated: According to the formula: in, represents the initial total time consumed, Indicates the total time taken to update. Any transport vehicle, Indicates the number of times any transport vehicle waits.

8. A warehousing logistics transportation task scheduling system according to claim 7, characterized in that: The calculation module further includes an adaptive adjustment unit, and the adaptive adjustment unit is used to update the transportation route.

9. A warehousing logistics transportation task scheduling system according to claim 8, characterized in that: The method for updating the transport route is: Plan multiple updated transportation routes based on the route planning module; Get the updated total time to reach the destination by transport route ; Calculate the total time taken to update multiple transport routes separately ; Select The minimum value is recorded as And the total time taken to update Compare: like , then select the total time The corresponding updated transport route is used as the transport route, where is the correction factor.

10. A method for scheduling warehousing logistics and transportation tasks, characterized by: The following steps are involved: S1: Plan the transportation route according to the origin and destination of the transportation task; S2: segment the transport routes; S3: Determine whether there is an overlapping section between the transport route and other transport routes. If so, determine whether a collision accident will occur. If not, no determination is required. S4: When there is an overlapping section, determine whether the transport vehicles executing the two transport routes will cause a collision accident. If so, output a control signal to control any one of the transport vehicles. If not, do not output a control signal.

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