Control method and control device for operation of stacking machine and electronic equipment

Abstract

The invention provides a stacking machine operation control method, a stacking machine operation control device and electronic equipment. The method comprises the following steps: acquiring current data and historical data of the operation of the stacker; determining a first path and a second path of operation of the stacking machine; at least one of a first initial weight of the first path and a second initial weight of the second path is adjusted at least according to the running time and total time of the stacker and the distance between the stacker and other stackers, and a first weight and a second weight are obtained; under the condition that the first weight is not smaller than the second weight, the operation path of the stacking machine is determined as a first path, and under the condition that the first weight is smaller than the second weight, the operation path of the stacking machine is determined as a second path; and the stacker is controlled to operate according to the operation path. The method solves the problem that in the prior art, the operation efficiency of the stacker is low.

Description

Technical Field

[0001] The present application relates to the field of stacker operation, and in particular, to a control method, a control device, a computer-readable storage medium, a processor and an electronic device for stacker operation. Background Art

[0002] In the stacker dispatching system, the path planning module is crucial. On the one hand, pursuing the shortest path can improve the stacker's operating efficiency and reduce handling time and energy consumption; on the other hand, avoiding congested areas can prevent the stacker from waiting for a long time in busy areas, improve the stacker's operating efficiency, and thus ensure the overall smoothness of the system. However, when facing different situations during the operation of the stacker, the stacker can only be controlled to run along one of the paths, and there is no guarantee whether this path is suitable for the current situation, which will reduce the efficiency of the stacker's operation.

[0003] Therefore, there is an urgent need for a control method for stacker operation that can improve the stacker operation efficiency. Summary of the invention

[0004] The main purpose of the present application is to provide a control method, a control device, a computer-readable storage medium, a processor and an electronic device for stacker operation, so as to at least solve the problem of low stacker operation efficiency in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for controlling the operation of a stacker is provided, comprising: an acquisition step of acquiring current data and historical data of the operation of the stacker, wherein the current data at least includes the current position of the stacker and the distance to other stackers, and the historical data includes the running time from a starting point to the current position and the total waiting time; a first determination step of determining a first path and a second path for the operation of the stacker, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; and the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least the time when the stacker is waiting. a second determining step, at least according to the running time of the stacker, the total time and the distance from other stackers, adjusting at least one of the first initial weight of the first path and the second initial weight of the second path to obtain a first weight and a second weight, the first initial weight and the second initial weight being the same; a third determining step, when the first weight is not less than the second weight, determining the running path of the stacker to be the first path, and when the first weight is less than the second weight, determining the running path of the stacker to be the second path; a control step, controlling the stacker to run according to the running path.

[0006] Optionally, the first determination step includes: using an A* algorithm to expand all nodes of the stacker based on at least the starting point, the current position and the end point; and connecting at least the starting point, the current position, all the nodes and the end point to determine the first path of the stacker.

[0007] Optionally, using the A* algorithm, all nodes of the stacker are expanded at least according to the starting point, the current position and the end point, including: adding the starting point and the current position of the stacker to an open list, the open list being a list of the nodes to be explored; an adding step, determining an adjacent node of the current position as a target adjacent node according to a first distance and a second distance, wherein the first distance is the distance between the adjacent node of the current position and the starting point, and the second distance is the distance between the adjacent node of the current position and the end point; adding the target adjacent node to the open list, and updating the target adjacent node to the current position, and repeating the adding step at least once until the last target adjacent node before the end point is added to the open list, thereby expanding all the nodes of the stacker, wherein the distance between the adjacent node of the current position and the current position, the distance between the last target adjacent node and the end point, and the distance between any two target adjacent nodes are the same.

[0008] Optionally, the adding step includes: calculating the distance between the starting point and the current position of the stacker to obtain a third distance, calculating the distance between the current position and the end point of the stacker to obtain a fourth distance; calculating the sum of the third distance and the fourth distance to obtain a first evaluation value; calculating the first distance and the second distance of multiple adjacent nodes of the current position, and calculating the sum of the first distance and the second distance corresponding to each adjacent node to obtain multiple second evaluation values; determining the smallest second evaluation value among the multiple second evaluation values ​​as the target evaluation value; and determining whether the adjacent node corresponding to the target evaluation value is the target adjacent node based on the size of the target evaluation value and the first evaluation value.

[0009] Optionally, based on the size of the target evaluation value and the first evaluation value, determining whether the adjacent node corresponding to the target evaluation value is the target adjacent node includes: when the target evaluation value is less than the first evaluation value, determining that the adjacent node corresponding to the target evaluation value is the target adjacent node; when the target evaluation value is not less than the first evaluation value, repeating the adding step at least once until the target evaluation value is less than the first evaluation value, determining that the adjacent node corresponding to the target evaluation value is the target adjacent node.

[0010] Optionally, the first determination step also includes: using an ant colony algorithm to determine multiple candidate operating paths for the stacker; at least determining that the optimal operating path among the multiple candidate operating paths that enables the stacker to avoid the congested area is the second path, and the optimal operating path is at least the shortest candidate operating path when avoiding the congested area.

[0011] Optionally, the second determination step includes: at least when the running time is greater than a first preset threshold, increasing the size of the first initial weight to obtain the first weight; at least when the distance between the stacker and other stackers is greater than a second preset threshold or the total time is less than a third preset threshold, increasing the size of the second initial weight to obtain the second weight.

[0012] Optionally, after the control step, the method further includes: monitoring the operation status of the stacker in real time; at least when the length of the operation path exceeds a fourth preset threshold, re-executing the acquisition step, the first determination step, the second determination step and the third determination step in sequence at least once, until the length of the operation path does not exceed the fourth preset threshold, and the updated operation path is obtained; and controlling the stacker to operate according to the updated operation path.

[0013] According to another aspect of the present application, a control device for stacker operation is provided, comprising:

[0014] an acquisition unit, configured to execute an acquisition step to acquire current data and historical data of the stacker operation, wherein the current data at least includes a current position, a current speed and a distance from other stackers of the stacker, and the historical data includes a running time from a starting point to the current position and a total waiting time;

[0015] A first determining unit is used to execute a first determining step to determine a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from a starting point to an end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold;

[0016] A second determining unit is used to perform a second determining step, at least adjusting one of a first initial weight of the first path and a second initial weight of the second path according to at least the running time of the stacker, the total time and the distance from other stackers, to obtain a first weight and a second weight, wherein the first initial weight and the second initial weight are the same;

[0017] a third determining unit, configured to execute a third determining step, to determine that the running path of the stacker is the first path when the first weight is not less than the second weight, and to determine that the running path of the stacker is the second path when the first weight is less than the second weight;

[0018] The control unit is used to execute the control step to control the stacker to operate according to the operation path.

[0019] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned methods for controlling the operation of a stacker.

[0020] According to another aspect of the present application, a processor is provided, wherein the processor is used to run a program, wherein when the program is run, any one of the above-mentioned methods for controlling the operation of a stacker is executed.

[0021] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a control method for executing any one of the above-described stacker operations.

[0022] By applying the technical solution of the present application, first, current data and historical data of the stacker operation are obtained; secondly, a first path and a second path of the stacker operation are determined; then, at least according to the operation time of the stacker, the total time and the distance to other stackers, at least one of the first initial weight of the first path and the second initial weight of the second path is adjusted to obtain a first weight and a second weight; thirdly, when the first weight is not less than the second weight, the operation path of the stacker is determined to be the first path, and when the first weight is less than the second weight, the operation path of the stacker is determined to be the second path; finally, the stacker is controlled to operate according to the operation path. Compared with the prior art, the solution of the present application determines a first path (i.e., the shortest path) and a second path that avoids congested areas, and adjusts a first initial weight of the first path and a second initial weight of the second path through current data and historical data, and obtains a first weight and a second weight, respectively. When the first weight is not less than the second weight, the stacker is controlled to run along the first path, and when the second weight is greater than the first weight, the stacker is controlled to run along the second path, so that the stacker can run along different paths according to different situations. If the stacker is controlled to run along the first path according to the current situation, the time taken is the shortest. If the stacker runs along the second path according to the current situation, the running time of the stacker can also be reduced when avoiding congested areas, thereby reducing the time it takes for the stacker to run from the starting point to the end point, thereby solving the problem of low operating efficiency of the stacker in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1 A hardware structure block diagram of a mobile terminal for executing a control method for stacker operation provided in an embodiment of the present application is shown;

[0025] Figure 2 A schematic flow chart of a method for controlling the operation of a stacker provided according to an embodiment of the present application is shown;

[0026] Figure 3 A workflow diagram of a path planning module of a control method for stacker operation provided in accordance with an embodiment of the present application is shown;

[0027] Figure 4 A structural block diagram of a stacker operation control device provided according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] As introduced in the background technology, the stacker in the prior art has the problem of low operating efficiency. To solve the above problem, the embodiments of the present application provide a control method, a control device, a computer-readable storage medium, a processor and an electronic device for stacker operation.

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a stacker operation control method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0034] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0035] In this embodiment, a control method for the operation of a stacker running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0036] Figure 2 FIG. 1 is a flow chart of a method for controlling the operation of a stacker according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0037] Step S201, an acquisition step, acquires current data and historical data of the stacker operation, the current data at least including the current position of the stacker and the distance to other stackers, and the historical data including the running time from the starting point to the current position and the total waiting time.

[0038] Specifically, sensors and communication equipment are used to monitor the position and speed of stackers and the congestion of various areas in the warehouse in real time. For example, infrared sensors are used to detect the distance between stackers to determine whether there is a risk of congestion; network communications are used to obtain the operating status of other equipment, such as the busyness of the conveyor line.

[0039] Specifically, the DB block signal in the programmable logic controller (PLC) of the stacker has an occupied or idle state. If it is in the occupied state, it proves that the stacker is running and is considered busy.

[0040] Specifically, PLC is the main controller of the stacker and is a special digital computer used in industrial automation control systems. It is usually used to control the operation of industrial equipment such as production lines, machinery and equipment, and robots to achieve automated production. In the stacker, PLC can control the movement, lifting, and handling of the stacker to ensure that the stacker can efficiently and accurately complete the stacking and handling tasks of materials. PLC has high reliability, stability, and flexibility, and can quickly respond to various control instructions, so it is widely used in the field of industrial automation.

[0041] Specifically, DB block signals are data transmission signals usually used to store and transmit data. These signals may include the location information, sensor data, operating status, etc. of the stacker. DB block signals can be used to control the operation of the stacker, monitor its status, and communicate with other devices or systems.

[0042] Step S202, a first determination step, determines a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold.

[0043] Specifically, the path length of the shortest path can directly calculate the physical distance that the stacker travels from the starting point to the target point. For example, in a warehouse layout represented by a simple rectangular coordinate system, if the horizontal unit distance of the stacker is 1 and the vertical unit distance is also 1, then the path length is the sum of the horizontal and vertical distances. Assuming the starting point coordinates are (0,0) and the target point is (3,4), the path length is 5 according to the Pythagorean theorem.

[0044] Specifically, the evaluation index of the congested area is the congestion risk probability, in which the possibility of the stacker encountering congestion when passing through a certain area is estimated based on historical data or real-time information of the warehouse. For example, by counting the number of times a certain area is congested in a day and dividing it by the total number of times the area is passed, a congestion probability is obtained. If the stacker's operating path passes through more areas with high congestion probabilities, then the congestion risk of the path is high, and the value of this evaluation index is low.

[0045] Step S203, the second determination step, at least according to the above-mentioned running time of the above-mentioned stacker, the above-mentioned total time and the above-mentioned distance from other above-mentioned stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight, and the above-mentioned first initial weight and the above-mentioned second initial weight are the same.

[0046] Specifically, the total waiting time is based on three factors: task queue, resource occupation and traffic congestion. First, based on the task queue, when the stacker adopts the task queue working mode, the waiting time can be calculated from the task start time and the previous task end time. For example, a task starts queuing for execution at 10:00, and the previous task ends at 10:05, then the waiting time is 5 minutes. The formula is: waiting time = current task start waiting time - previous task end time; second, based on resource occupation, if the stacker needs to wait for a certain resource (such as loading and unloading equipment, transportation channel), it can be calculated based on the resource occupation time. Assuming that after the stacker arrives at the unloading point, the unloading equipment is occupied by other equipment, and it is known that the unloading equipment will be idle for another 2 minutes, then the waiting time of the stacker is 2 minutes; third, based on traffic congestion, when the stacker encounters traffic congestion on the running route (such as the channel is occupied by other equipment, etc.), the waiting time is calculated from the time when the stacker stops moving due to congestion until the congestion is resolved and normal operation is resumed. For example, if the stacker stops at 10:10 due to a blocked channel and the channel is restored at 10:20, the waiting time is 10 minutes.

[0047] Specifically, the total waiting time takes into account the costs of the stacker crane’s energy consumption, task delays, etc. during the waiting period.

[0048] Specifically, in a medium-sized logistics warehouse, the path planning module discovered through real-time monitoring that a conveyor line in a certain area had a fault, causing congestion in that area. At this time, the system reduced the weight of that area in the path search and guided the stacker to choose other relatively free paths. At the same time, based on the new path situation, the balance between the shortest path and avoiding congested areas was re-evaluated to ensure that the stacker could complete the handling task efficiently.

[0049] Specifically, during peak hours, the cargo flow in the warehouse is large and congestion is more serious. The path planning module increases the weight of avoiding congested areas so that the stacker crane prioritizes the more unobstructed paths. As time goes by, when the cargo flow gradually decreases, the system dynamically adjusts the weight and gradually increases the weight of the shortest path to improve the stacker crane's operating efficiency.

[0050] Step S204, the third determination step, determines the operation path of the stacker to be the first path when the first weight is not less than the second weight, and determines the operation path of the stacker to be the second path when the first weight is less than the second weight.

[0051] Specifically, weights are assigned to the two objectives. The weight assignment can be adjusted dynamically according to actual needs. For example, during the time period when the warehouse cargo flow is large, the weight of avoiding congested areas can be increased; while when the cargo flow is small, the weight of the shortest path can be appropriately increased.

[0052] Step S205, a control step, controls the stacker to operate according to the operation path.

[0053] In the above-mentioned embodiment, first, the current data and historical data of the stacker operation are obtained; secondly, the first path and the second path of the stacker operation are determined; then, at least according to the above-mentioned operation time of the stacker, the above-mentioned total time and the above-mentioned distance from other stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight; again, when the above-mentioned first weight is not less than the above-mentioned second weight, the operation path of the stacker is determined to be the above-mentioned first path, and when the above-mentioned first weight is less than the above-mentioned second weight, the operation path of the stacker is determined to be the above-mentioned second path; finally, the stacker is controlled to operate according to the above-mentioned operation path. Compared with the prior art, the solution of the present application determines a first path (i.e., the shortest path) and a second path that avoids congested areas, and adjusts a first initial weight of the first path and a second initial weight of the second path through current data and historical data, and obtains a first weight and a second weight, respectively. When the first weight is not less than the second weight, the stacker is controlled to run along the first path, and when the second weight is greater than the first weight, the stacker is controlled to run along the second path, so that the stacker can run along different paths according to different situations. If the stacker is controlled to run along the first path according to the current situation, the time taken is the shortest. If the stacker runs along the second path according to the current situation, the running time of the stacker can also be reduced when avoiding congested areas, thereby reducing the time it takes for the stacker to run from the starting point to the end point, thereby solving the problem of low operating efficiency of the stacker in the prior art.

[0054] In one embodiment of the present application, the first determination step includes: using an A* algorithm, at least based on the starting point, the current position and the end point, expanding all nodes of the stacker; at least connecting the starting point, the current position, all nodes and the end point to determine the first path of the stacker. In this method, using the A* algorithm can more quickly expand all nodes of the stacker, making the process of determining the first path of the stacker faster.

[0055] Specifically, the A* algorithm is a heuristic search algorithm. It selects nodes for expansion by evaluating a function. Among them, is the actual cost from the starting node to the node, and is the estimated cost from the node to the target node. For example, in the stacker path planning, it can be the distance traveled by the stacker from the starting point to the current point, and it can be the straight-line distance from the current point to the target point (this is a simple estimation method).

[0056] In order to more accurately determine the first path, thereby further improving the operation efficiency of the stacker, in one embodiment of the present application, the A* algorithm is used to expand all the nodes of the stacker at least based on the starting point, the current position and the end point, including: adding the starting point and the current position of the stacker to an open list, which is a list of the nodes to be explored; adding a neighboring node of the current position as a target neighboring node based on a first distance and a second distance, wherein the first distance is the distance between the neighboring node of the current position and the starting point, and the second distance is the distance between the neighboring node of the current position and the end point; adding the target neighboring node to the open list, updating the target neighboring node to the current position, and repeating the adding step at least once until the last target neighboring node before the end point is added to the open list, thereby expanding all the nodes of the stacker, wherein the distance between the neighboring node of the current position and the current position, the distance between the last target neighboring node and the end point, and the distance between any two target neighboring nodes are the same.

[0057] Specifically, first add the starting point and the current position to the open list, then determine the adjacent nodes of the current position as the target adjacent nodes according to the distance of each node to the starting point and the end point. Add the target adjacent node to the open list and update it to the current position, and then repeat this step until the last target adjacent node is added to the open list, thus expanding all the nodes of the stacker.

[0058] In another embodiment, the adding step includes: calculating the distance between the starting point and the current position of the stacker to obtain a third distance, calculating the distance between the current position and the end point of the stacker to obtain a fourth distance; calculating the sum of the third distance and the fourth distance to obtain a first evaluation value; calculating the first distance and the second distance of the plurality of adjacent nodes at the current position, and calculating the sum of the first distance and the second distance corresponding to each adjacent node to obtain a plurality of second evaluation values; determining the smallest second evaluation value among the plurality of second evaluation values ​​as the target evaluation value; determining whether the adjacent node corresponding to the target evaluation value is the target adjacent node according to the size of the target evaluation value and the first evaluation value. In the method, it is determined which adjacent node is the optimal target node during the movement of the stacker. The evaluation value is obtained by calculating the distance from the current position to the starting point and the end point, and the distance from the current position to all adjacent nodes. Then, these evaluation values ​​are compared to determine which adjacent node is the optimal target node, thereby further improving the accuracy of the determined first path, thereby further improving the operation efficiency of the stacker.

[0059] In order to further improve the accuracy of determining the target adjacent nodes, thereby further improving the accuracy of the determined first path, in an embodiment of the present application, based on the size of the target evaluation value and the first evaluation value, it is determined whether the adjacent node corresponding to the target evaluation value is the target adjacent node, including: when the target evaluation value is less than the first evaluation value, determining that the adjacent node corresponding to the target evaluation value is the target adjacent node; when the target evaluation value is not less than the first evaluation value, repeating the above-mentioned adding step at least once until the target evaluation value is less than the first evaluation value, determining that the adjacent node corresponding to the target evaluation value is the target adjacent node.

[0060] Specifically, the A* algorithm is a heuristic search algorithm. It selects nodes for expansion by evaluating the function f(n) = g(n) + h(n). Among them, g(n) is the actual cost from the starting node to the node n, and h(n) is the estimated cost from the node to the target node.

[0061] Specifically, the process of A* algorithm planning the shortest path is as follows: first, initialization, putting the starting node and the current position into the open list (list of nodes to be explored), and setting its g value as the actual cost from the starting point to the current position, h value as the estimated cost from the current position to the target point, and f value as g+h; second, cyclic search, selecting the node with the smallest f value from the open list as the current node. For the adjacent nodes of the current node, calculate their g, h and f values, add them to the open list, and if the new path is better (that is, the new g value is smaller), update the g and f values; finally, target judgment, when the previous adjacent node of the target node is added to the open list or the open list is empty, the search ends. If the previous adjacent node of the target node is in the open list, the shortest path can be found by backtracking the parent node.

[0062] Specifically, assume that the stacker is in a simple warehouse grid layout, with the starting point at (0,0) and the target point at (3,3). Each cell in the grid has a side length of 1. The g value is calculated based on the number of cells the stacker actually travels through, and the h value is calculated based on the straight-line distance (using the Pythagorean theorem). During the search process, the A* algorithm will prioritize nodes with small f values ​​for expansion, gradually finding the shortest path from the starting point to the target point.

[0063] In another embodiment, the first determination step further includes: using an ant colony algorithm to determine a plurality of candidate operation paths for the stacker; at least determining that the optimal operation path among the plurality of candidate operation paths that enables the stacker to avoid the congested area is the second path, and the optimal operation path is at least the shortest candidate operation path when avoiding the congested area. In this method, the ant colony algorithm can adjust the behavior of ants in real time according to changes in the environment, so that the stacker can avoid the congested area in time, thereby making the determined second path more accurate.

[0064] Specifically, the ant colony algorithm is a group intelligence algorithm that simulates the foraging process of ants. When ants are looking for food, they release pheromones along the path. The higher the pheromone concentration, the greater the probability that the path will be chosen by other ants. Over time, the ants will gradually find a better path.

[0065] Specifically, the path planning process of the ant colony algorithm is as follows: first, initialization. In the stacker path planning scenario, a starting position is randomly assigned to each ant, and the pheromone concentration on the initial path is a small positive value; second, ant movement. Each ant selects the next node based on the pheromone concentration and heuristic information (such as distance, time, etc.). For example, the probability of an ant selecting the next node is related to the pheromone concentration of the edge connecting the node and the distance to the target point; then, pheromone update: after the ant completes a path search, the pheromone concentration on the path is updated according to the quality of the path (such as the shorter the path length, the better). Better paths will add more pheromones, making it more likely that subsequent ants will choose these paths; finally, iterative optimization. After multiple rounds of iterations, the ant colony gradually converges to one or several better paths, which are the planned paths of the stacker.

[0066] Specifically, suppose there is a warehouse layout with multiple shelves and aisles, and multiple "ants" (representing the path selection strategy of the stacker). At the beginning, the ants randomly search for paths from the starting point to the target point in the warehouse. As time goes by, those paths that pass through shorter aisles and less congested areas have more pheromones accumulated, and later ants are more inclined to choose these paths, and finally find a better path suitable for the operation of the stacker.

[0067] Specifically, the path search strategy is adjusted according to the real-time monitored congestion and weight distribution. For example, when a certain area is detected to be severely congested, the attractiveness of the area in the path search is reduced to guide the stacker to choose other paths.

[0068] In order to more accurately adjust the first initial weight and the second initial weight, thereby obtaining more accurate first weight and second weight, and further improving the operating efficiency of the stacker, in one embodiment of the present application, the second determination step includes: at least when the operating time is greater than the first preset threshold, increasing the size of the first initial weight to obtain the first weight; at least when the distance between the stacker and the other stackers is greater than the second preset threshold or the total time is less than the third preset threshold, increasing the size of the second initial weight to obtain the second weight.

[0069] Specifically, stacker cranes have specific waiting time thresholds, but they vary depending on factors such as equipment model, warehouse layout, and cargo flow.

[0070] Specifically, in addition to the path length, the running time is also an important evaluation criterion. The running time is related to the speed of the stacker, and its calculation formula is t=d / v, where t is time, d is the path length, and v is the running speed of the stacker. If the speed of the stacker is constant, the shorter the path length, the shorter the running time. However, if the speed of the stacker is different in different areas (for example, the speed will be reduced in areas with dense cargo), it is necessary to consider the impact of speed changes on time. Among them, for the speed of the stacker, the common horizontal running speed of the stacker is 80-200 meters / minute, and the vertical running speed is about 20-60 meters / minute. These speed values ​​will affect the time calculation in path planning.

[0071] Specifically, in terms of the total waiting time threshold, if the stacker crane waits for more than 30 seconds to 2 minutes at an operation point, it may be considered an abnormal waiting situation. This may be caused by delays in cargo scheduling, equipment failures, or path conflicts. However, this is only a rough range. In an efficient automated warehouse, this threshold may be lower to ensure the timeliness of cargo handling.

[0072] Specifically, if the stacker's route is too close to a congested area, it may be affected by congestion. For example, cargo handling may block the stacker's path. A safety distance threshold is set. If the distance from the stacker's path to the congested area is always greater than the threshold, it means that congestion is avoided well.

[0073] In another embodiment, after the above control step, the above method further includes: real-time monitoring of the operation of the above stacker; at least when the length of the above operation path exceeds the fourth preset threshold, re-execute the above acquisition step, the above first determination step, the above second determination step and the above third determination step at least once in sequence until the length of the above operation path does not exceed the above fourth preset threshold, and obtain the updated above operation path; control the above stacker to operate according to the updated above operation path. In this method, when the length of the operation path exceeds the preset threshold, the system will re-acquire data, determine the target position, determine the path, and re-plan the operation path until the path length no longer exceeds the preset threshold, thereby ensuring that the stacker can always operate efficiently.

[0074] Specifically, during the operation of the stacker, the actual path is continuously monitored. If the actual path is found to be inconsistent with expectations, such as encountering a new congested area or the path length exceeds expectations, feedback is promptly given to the path planning module. Based on the feedback information, the path planning module re-evaluates the path and adjusts the weight distribution to provide a new path suggestion for the stacker. Figure 3The workflow of the path planning module is as follows: the main process is to start the path planning module; then, receive the starting point and end point information input by the user, and obtain relevant environmental information such as map data and traffic condition data; select appropriate path planning algorithms according to specific needs and scenarios, such as Dijkstra algorithm, A* algorithm, etc., and the process ends when the user ends the trip or closes the path planning module; secondly, use the selected algorithm to search for the optimal path from the starting point to the end point on the map, considering factors such as path length, driving time, and traffic conditions; next, display the planned path to the user in a visual way, including marking the route on the map and providing detailed information of the route, such as distance, estimated driving time, etc.; continuously monitor environmental information such as traffic conditions and map changes, and trigger path updates if there are any changes. If environmental monitoring finds major changes (such as road closures) and the current path is affected, the path update process is automatically triggered; then, recalculate the path based on the new environmental information, and if necessary, update the path planning results and output them to the user again; finally, when the user ends the trip or closes the path planning module, the process ends.

[0075] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for controlling the operation of the stacker of the present application will be described in detail below in conjunction with specific embodiments.

[0076] This embodiment relates to a specific method for controlling the operation of a stacker, comprising the following steps:

[0077] Step 1: Obtain the current and historical data of the stacker operation and add them to the database;

[0078] Step 2: Use the A* algorithm to determine the first path, and use the ant colony algorithm to determine the second path;

[0079] Step 3: at least according to the running time of the stacker, the total waiting time and the distance from other stackers, at least one of the first initial weight of the first path and the second initial weight of the second path is adjusted to obtain the first weight and the second weight;

[0080] Step 4: Determine the size of the first weight and the second weight. When the first weight is not less than the second weight, control the stacker to run along the first path; when the second weight is greater than the first weight, control the stacker to run along the second path;

[0081] Step 5: Monitor the operation of the stacker. When the operation length is greater than a preset threshold or encounters a new congestion area, re-plan the operation path of the stacker and control the stacker to run according to the re-planned operation path.

[0082] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0083] The embodiment of the present application also provides a control device for the operation of a stacker. It should be noted that the control device for the operation of a stacker in the embodiment of the present application can be used to execute the control method for the operation of a stacker provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions thereof will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0084] The following is an introduction to the stacker operation control device provided in the embodiment of the present application.

[0085] Figure 4 Schematic diagram of a control device for stacker operation according to an embodiment of the present application. Figure 4 As shown, the device comprises:

[0086] The acquisition unit 10 is used to execute the acquisition step to acquire the current data and historical data of the stacker operation, wherein the current data at least includes the current position of the stacker and the distance to other stackers, and the historical data includes the running time from the starting point to the current position and the total waiting time.

[0087] Specifically, sensors and communication equipment are used to monitor the position and speed of stackers and the congestion of various areas in the warehouse in real time. For example, infrared sensors are used to detect the distance between stackers to determine whether there is a risk of congestion; network communications are used to obtain the operating status of other equipment, such as the busyness of the conveyor line.

[0088] Specifically, the DB block signal in the programmable logic controller (PLC) of the stacker has an occupied or idle state. If it is in the occupied state, it proves that the stacker is running and is considered busy.

[0089] Specifically, PLC is the main controller of the stacker and is a special digital computer used in industrial automation control systems. It is usually used to control the operation of industrial equipment such as production lines, machinery and equipment, and robots to achieve automated production. In the stacker, PLC can control the movement, lifting, and handling of the stacker to ensure that the stacker can efficiently and accurately complete the stacking and handling tasks of materials. PLC has high reliability, stability, and flexibility, and can quickly respond to various control instructions, so it is widely used in the field of industrial automation.

[0090] Specifically, DB block signals are data transmission signals usually used to store and transmit data. These signals may include the location information, sensor data, operating status, etc. of the stacker. DB block signals can be used to control the operation of the stacker, monitor its status, and communicate with other devices or systems.

[0091] The first determination unit 20 is used to execute the first determination step to determine the first path and the second path of the stacker, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold.

[0092] Specifically, the path length of the shortest path can directly calculate the physical distance that the stacker travels from the starting point to the target point. For example, in a warehouse layout represented by a simple rectangular coordinate system, if the horizontal unit distance of the stacker is 1 and the vertical unit distance is also 1, then the path length is the sum of the horizontal and vertical distances. Assuming the starting point coordinates are (0,0) and the target point is (3,4), the path length is 5 according to the Pythagorean theorem.

[0093] Specifically, the evaluation index of the congested area is the congestion risk probability, in which the possibility of the stacker encountering congestion when passing through a certain area is estimated based on historical data or real-time information of the warehouse. For example, by counting the number of times a certain area is congested in a day and dividing it by the total number of times the area is passed, a congestion probability is obtained. If the stacker's operating path passes through more areas with high congestion probabilities, then the congestion risk of the path is high, and the value of this evaluation index is low.

[0094] The second determination unit 30 is used to perform the second determination step, at least according to the above-mentioned operation time of the above-mentioned stacker, the above-mentioned total time and the above-mentioned distance from other stackers, adjust at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path to obtain the first weight and the second weight, and the above-mentioned first initial weight is the same as the above-mentioned second initial weight.

[0095] Specifically, the total waiting time is based on three factors: task queue, resource occupation and traffic congestion. First, based on the task queue, when the stacker adopts the task queue working mode, the waiting time can be calculated from the task start time and the previous task end time. For example, a task starts queuing for execution at 10:00, and the previous task ends at 10:05, then the waiting time is 5 minutes. The formula is: waiting time = current task start waiting time - previous task end time; second, based on resource occupation, if the stacker needs to wait for a certain resource (such as loading and unloading equipment, transportation channel), it can be calculated based on the resource occupation time. Assuming that after the stacker arrives at the unloading point, the unloading equipment is occupied by other equipment, and it is known that the unloading equipment will be idle for another 2 minutes, then the waiting time of the stacker is 2 minutes; third, based on traffic congestion, when the stacker encounters traffic congestion on the running route (such as the channel is occupied by other equipment, etc.), the waiting time is calculated from the time when the stacker stops moving due to congestion until the congestion is resolved and normal operation is resumed. For example, if the stacker stops at 10:10 due to a blocked channel and the channel is restored at 10:20, the waiting time is 10 minutes.

[0096] Specifically, the total waiting time takes into account the costs of the stacker crane’s energy consumption, task delays, etc. during the waiting period.

[0097] Specifically, in a medium-sized logistics warehouse, the path planning module discovered through real-time monitoring that a conveyor line in a certain area had a fault, causing congestion in that area. At this time, the system reduced the weight of that area in the path search and guided the stacker to choose other relatively free paths. At the same time, based on the new path situation, the balance between the shortest path and avoiding congested areas was re-evaluated to ensure that the stacker could complete the handling task efficiently.

[0098] Specifically, during peak hours, the cargo flow in the warehouse is large and congestion is more serious. The path planning module increases the weight of avoiding congested areas so that the stacker crane prioritizes the more unobstructed paths. As time goes by, when the cargo flow gradually decreases, the system dynamically adjusts the weight and gradually increases the weight of the shortest path to improve the stacker crane's operating efficiency.

[0099] The third determination unit 40 is used to execute the third determination step, and when the first weight is not less than the second weight, the operation path of the stacker is determined to be the first path; when the first weight is less than the second weight, the operation path of the stacker is determined to be the second path.

[0100] Specifically, weights are assigned to the two objectives. The weight assignment can be adjusted dynamically according to actual needs. For example, during the time period when the warehouse cargo flow is large, the weight of avoiding congested areas can be increased; while when the cargo flow is small, the weight of the shortest path can be appropriately increased.

[0101] The control unit 50 is used to execute the control steps to control the stacker to operate according to the operation path.

[0102] In the above-mentioned embodiment, first, the current data and historical data of the stacker operation are obtained; secondly, the first path and the second path of the stacker operation are determined; then, at least according to the above-mentioned operation time of the stacker, the above-mentioned total time and the above-mentioned distance from other stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight; again, when the above-mentioned first weight is not less than the above-mentioned second weight, the operation path of the stacker is determined to be the above-mentioned first path, and when the above-mentioned first weight is less than the above-mentioned second weight, the operation path of the stacker is determined to be the above-mentioned second path; finally, the stacker is controlled to operate according to the above-mentioned operation path. Compared with the prior art, the solution of the present application determines a first path (i.e., the shortest path) and a second path that avoids congested areas, and adjusts a first initial weight of the first path and a second initial weight of the second path through current data and historical data, and obtains a first weight and a second weight, respectively. When the first weight is not less than the second weight, the stacker is controlled to run along the first path, and when the second weight is greater than the first weight, the stacker is controlled to run along the second path, so that the stacker can run along different paths according to different situations. If the stacker is controlled to run along the first path according to the current situation, the time taken is the shortest. If the stacker runs along the second path according to the current situation, the running time of the stacker can also be reduced when avoiding congested areas, thereby reducing the time it takes for the stacker to run from the starting point to the end point, thereby solving the problem of low operating efficiency of the stacker in the prior art.

[0103] In one embodiment of the present application, the first determination unit includes an expansion subunit and a first determination subunit, wherein the expansion subunit is used to use the A* algorithm to expand all nodes of the stacker at least according to the starting point, the current position and the end point; the first determination subunit is used to connect at least the starting point, the current position, all the nodes and the end point to determine the first path of the stacker. In this solution, the A* algorithm can be used to expand all nodes of the stacker more quickly, so that the process of determining the first path of the stacker is faster.

[0104] Specifically, the A* algorithm is a heuristic search algorithm. It selects nodes for expansion by evaluating a function. Among them, is the actual cost from the starting node to the node, and is the estimated cost from the node to the target node. For example, in the stacker path planning, it can be the distance traveled by the stacker from the starting point to the current point, and it can be the straight-line distance from the current point to the target point (this is a simple estimation method).

[0105] In order to more accurately determine the first path, thereby further improving the operation efficiency of the stacker, in one embodiment of the present application, the expansion subunit includes a first adding module, a second adding module and a repeating module, wherein the first adding module is used to add the starting point and the current position of the stacker to an open list, and the open list is a list of the nodes to be explored; the second adding module is used to perform an adding step, and determine an adjacent node of the current position as a target adjacent node according to a first distance and a second distance, wherein the first distance is the distance between the adjacent node of the current position and the starting point, and the second distance is the distance between the adjacent node of the current position and the end point; the repeating module is used to add the target adjacent node to the open list, update the target adjacent node to the current position, and repeat the adding step at least once until the last target adjacent node before the end point is added to the open list, thereby expanding all the nodes of the stacker, wherein the distance between the adjacent node of the current position and the current position, the distance between the last target adjacent node and the end point, and the distance between any two target adjacent nodes are the same.

[0106] Specifically, first add the starting point and the current position to the open list, then determine the adjacent nodes of the current position as the target adjacent nodes according to the distance of each node to the starting point and the end point. Add the target adjacent node to the open list and update it to the current position, and then repeat this step until the last target adjacent node is added to the open list, thus expanding all the nodes of the stacker.

[0107] In another embodiment, the second adding module includes a first calculating submodule, a second calculating submodule, a third calculating submodule, a first determining submodule and a second determining submodule, wherein the first calculating submodule is used to calculate the distance between the starting point of the stacker and the current position to obtain the third distance, and calculate the distance between the current position of the stacker and the end point to obtain the fourth distance; the second calculating submodule is used to calculate the sum of the third distance and the fourth distance to obtain the first evaluation value; the third calculating submodule is used to calculate the first distance and the second distance of the plurality of adjacent nodes at the current position, and calculate the sum of the first distance and the second distance corresponding to each of the adjacent nodes to obtain a plurality of second evaluation values; the first determining submodule is used to determine the smallest second evaluation value among the plurality of second evaluation values ​​as the target evaluation value; the second determining submodule is used to determine whether the adjacent node corresponding to the target evaluation value is the target adjacent node according to the size of the target evaluation value and the first evaluation value. In this scheme, it is determined which adjacent node is the optimal target node during the movement of the stacker. By calculating the distance from the current position to the starting point and the end point, as well as the distance from the current position to all adjacent nodes, an evaluation value is obtained. These evaluation values ​​are then compared to determine which adjacent node is the optimal target node, thereby further improving the accuracy of the determined first path and further improving the operating efficiency of the stacker.

[0108] In order to further improve the accuracy of the determined target adjacent nodes, thereby further improving the accuracy of the determined first path, in one embodiment of the present application, the second determination submodule includes a third determination submodule and a repetition submodule, wherein the third determination submodule is used to determine that the adjacent nodes corresponding to the above-mentioned target evaluation value are the above-mentioned target adjacent nodes when the above-mentioned target evaluation value is less than the above-mentioned first evaluation value; the repetition submodule is used to repeat the above-mentioned adding step at least once when the above-mentioned target evaluation value is not less than the above-mentioned first evaluation value, until the above-mentioned target evaluation value is less than the above-mentioned first evaluation value, and determine that the above-mentioned adjacent nodes corresponding to the above-mentioned target evaluation value are the above-mentioned target adjacent nodes.

[0109] Specifically, the A* algorithm is a heuristic search algorithm. It selects nodes for expansion by evaluating the function f(n) = g(n) + h(n). Among them, g(n) is the actual cost from the starting node to the node n, and h(n) is the estimated cost from the node to the target node.

[0110] Specifically, the process of A* algorithm planning the shortest path is as follows: first, initialization, putting the starting node and the current position into the open list (list of nodes to be explored), and setting its g value as the actual cost from the starting point to the current position, h value as the estimated cost from the current position to the target point, and f value as g+h; second, cyclic search, selecting the node with the smallest f value from the open list as the current node. For the adjacent nodes of the current node, calculate their g, h and f values, add them to the open list, and if the new path is better (that is, the new g value is smaller), update the g and f values; finally, target judgment, when the previous adjacent node of the target node is added to the open list or the open list is empty, the search ends. If the previous adjacent node of the target node is in the open list, the shortest path can be found by backtracking the parent node.

[0111] Specifically, assume that the stacker is in a simple warehouse grid layout, with the starting point at (0,0) and the target point at (3,3). Each cell in the grid has a side length of 1. The g value is calculated based on the number of cells the stacker actually travels through, and the h value is calculated based on the straight-line distance (using the Pythagorean theorem). During the search process, the A* algorithm will prioritize nodes with small f values ​​for expansion, gradually finding the shortest path from the starting point to the target point.

[0112] In another embodiment, the first determination unit further includes a second determination subunit and a third determination subunit, wherein the second determination subunit is used to determine multiple candidate operation paths of the stacker using an ant colony algorithm; the third determination subunit is used to at least determine that the optimal operation path among the multiple candidate operation paths that enables the stacker to avoid the congested area is the second path, and the optimal operation path is at least the shortest candidate operation path when avoiding the congested area. In this solution, the ant colony algorithm can be used to adjust the behavior of ants in real time according to changes in the environment, so that the stacker can avoid the congested area in time, thereby making the determined second path more accurate.

[0113] Specifically, the ant colony algorithm is a group intelligence algorithm that simulates the foraging process of ants. When ants are looking for food, they release pheromones along the path. The higher the pheromone concentration, the greater the probability that the path will be chosen by other ants. Over time, the ants will gradually find a better path.

[0114] Specifically, the path planning process of the ant colony algorithm is as follows: first, initialization. In the stacker path planning scenario, a starting position is randomly assigned to each ant, and the pheromone concentration on the initial path is a small positive value; second, ant movement. Each ant selects the next node based on the pheromone concentration and heuristic information (such as distance, time, etc.). For example, the probability of an ant selecting the next node is related to the pheromone concentration of the edge connecting the node and the distance to the target point; then, pheromone update: after the ant completes a path search, the pheromone concentration on the path is updated according to the quality of the path (such as the shorter the path length, the better). Better paths will add more pheromones, making it more likely that subsequent ants will choose these paths; finally, iterative optimization. After multiple rounds of iterations, the ant colony gradually converges to one or several better paths, which are the planned paths of the stacker.

[0115] Specifically, suppose there is a warehouse layout with multiple shelves and aisles, and multiple "ants" (representing the path selection strategy of the stacker). At the beginning, the ants randomly search for paths from the starting point to the target point in the warehouse. As time goes by, those paths that pass through shorter aisles and less congested areas have more pheromones accumulated, and later ants are more inclined to choose these paths, and finally find a better path suitable for the operation of the stacker.

[0116] Specifically, the path search strategy is adjusted according to the real-time monitored congestion and weight distribution. For example, when a certain area is detected to be severely congested, the attractiveness of the area in the path search is reduced to guide the stacker to choose other paths.

[0117] In order to more accurately adjust the first initial weight and the second initial weight, thereby obtaining more accurate first weight and second weight, and further improving the operating efficiency of the stacker, in one embodiment of the present application, the above-mentioned second determination unit includes a first increasing sub-unit and a second increasing sub-unit, wherein the first increasing sub-unit is used to increase the size of the above-mentioned first initial weight to obtain the above-mentioned first weight at least when the above-mentioned operating time is greater than the first preset threshold value; the second increasing sub-unit is used to increase the size of the above-mentioned second initial weight to obtain the above-mentioned second weight at least when the distance between the above-mentioned stacker and the other above-mentioned stackers is greater than the second preset threshold value or the above-mentioned total time is less than the third preset threshold value.

[0118] Specifically, stacker cranes have specific waiting time thresholds, but they vary depending on factors such as equipment model, warehouse layout, and cargo flow.

[0119] Specifically, in addition to the path length, the running time is also an important evaluation criterion. The running time is related to the speed of the stacker, and its calculation formula is t=d / v, where t is time, d is the path length, and v is the running speed of the stacker. If the speed of the stacker is constant, the shorter the path length, the shorter the running time. However, if the speed of the stacker is different in different areas (for example, the speed will be reduced in areas with dense cargo), it is necessary to consider the impact of speed changes on time. Among them, for the speed of the stacker, the common horizontal running speed of the stacker is 80-200 meters / minute, and the vertical running speed is about 20-60 meters / minute. These speed values ​​will affect the time calculation in path planning.

[0120] Specifically, in terms of the total waiting time threshold, if the stacker crane waits for more than 30 seconds to 2 minutes at an operation point, it may be considered an abnormal waiting situation. This may be caused by delays in cargo scheduling, equipment failures, or path conflicts. However, this is only a rough range. In an efficient automated warehouse, this threshold may be lower to ensure the timeliness of cargo handling.

[0121] Specifically, if the stacker's route is too close to a congested area, it may be affected by congestion. For example, cargo handling may block the stacker's path. A safety distance threshold is set. If the distance from the stacker's path to the congested area is always greater than the threshold, it means that congestion is avoided well.

[0122] In another embodiment, the control unit further includes a monitoring subunit, a repeating subunit and a control subunit, wherein the monitoring subunit is used to monitor the operation of the above-mentioned stacker in real time; the repeating subunit is used to sequentially re-execute the above-mentioned acquisition step, the above-mentioned first determination step, the above-mentioned second determination step and the above-mentioned third determination step at least once, at least when the length of the above-mentioned operation path exceeds the fourth preset threshold, until the length of the above-mentioned operation path does not exceed the above-mentioned fourth preset threshold, and the above-mentioned operation path is updated; the control subunit is used to control the above-mentioned stacker to operate according to the above-mentioned updated operation path. In this scheme, when the length of the operation path exceeds the preset threshold, the system will re-acquire data, determine the target position, determine the path, and re-plan the operation path until the path length no longer exceeds the preset threshold, thereby ensuring that the stacker can always operate efficiently.

[0123] Specifically, the stacker continuously monitors the actual path during operation. If the actual path is found to be inconsistent with expectations, such as encountering a new congested area or the path length exceeding expectations, timely feedback is given to the path planning module. Based on the feedback information, the path planning module re-evaluates the path and adjusts the weight distribution to provide a new path suggestion for the stacker.

[0124] The control device for stacker operation includes a processor and a memory. The acquisition unit, the first determination unit, the second determination unit, the third determination unit and the control unit are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0125] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the problem of low operating efficiency of the stacker in the prior art is solved by adjusting kernel parameters.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0127] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, a device where the computer-readable storage medium is located is controlled to execute a control method for the operation of the stacker, the method comprising:

[0128] Step S201, an acquisition step, acquires current data and historical data of the stacker operation, the current data at least including the current position of the stacker and the distance to other stackers, and the historical data including the running time from the starting point to the current position and the total waiting time.

[0129] Step S202, a first determination step, determines a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold.

[0130] Step S203, the second determination step, at least according to the above-mentioned running time of the above-mentioned stacker, the above-mentioned total time and the above-mentioned distance from other above-mentioned stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight, and the above-mentioned first initial weight and the above-mentioned second initial weight are the same.

[0131] Step S204, the third determination step, determines the operation path of the stacker to be the first path when the first weight is not less than the second weight, and determines the operation path of the stacker to be the second path when the first weight is less than the second weight.

[0132] Step S205, a control step, controls the stacker to operate according to the operation path.

[0133] An embodiment of the present invention provides a processor, the processor is used to run a program, wherein when the program is run, a control method for operating the stacker is executed, the method comprising:

[0134] Step S201, an acquisition step, acquires current data and historical data of the stacker operation, the current data at least including the current position of the stacker and the distance to other stackers, and the historical data including the running time from the starting point to the current position and the total waiting time.

[0135] Step S202, a first determination step, determines a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold.

[0136] Step S203, the second determination step, at least according to the above-mentioned running time of the above-mentioned stacker, the above-mentioned total time and the above-mentioned distance from other above-mentioned stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight, and the above-mentioned first initial weight and the above-mentioned second initial weight are the same.

[0137] Step S204, the third determination step, determines the operation path of the stacker to be the first path when the first weight is not less than the second weight, and determines the operation path of the stacker to be the second path when the first weight is less than the second weight.

[0138] Step S205, a control step, controls the stacker to operate according to the operation path.

[0139] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0140] Step S201, an acquisition step, acquires current data and historical data of the stacker operation, the current data at least including the current position of the stacker and the distance to other stackers, and the historical data including the running time from the starting point to the current position and the total waiting time.

[0141] Step S202, a first determination step, determines a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold.

[0142] Step S203, the second determination step, at least according to the above-mentioned running time of the above-mentioned stacker, the above-mentioned total time and the above-mentioned distance from other above-mentioned stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight, and the above-mentioned first initial weight and the above-mentioned second initial weight are the same.

[0143] Step S204, the third determination step, determines the operation path of the stacker to be the first path when the first weight is not less than the second weight, and determines the operation path of the stacker to be the second path when the first weight is less than the second weight.

[0144] Step S205, a control step, controls the stacker to operate according to the operation path.

[0145] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0146] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0147] Step S201, an acquisition step, acquires current data and historical data of the stacker operation, the current data at least including the current position of the stacker and the distance to other stackers, and the historical data including the running time from the starting point to the current position and the total waiting time.

[0148] Step S202, a first determination step, determines a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold.

[0149] Step S203, the second determination step, at least according to the above-mentioned running time of the above-mentioned stacker, the above-mentioned total time and the above-mentioned distance from other above-mentioned stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight, and the above-mentioned first initial weight and the above-mentioned second initial weight are the same.

[0150] Step S204, the third determination step, determines the operation path of the stacker to be the first path when the first weight is not less than the second weight, and determines the operation path of the stacker to be the second path when the first weight is less than the second weight.

[0151] Step S205, a control step, controls the stacker to operate according to the operation path.

[0152] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0153] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0154] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0155] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0157] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0158] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0159] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0160] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0161] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0162] In the above-mentioned embodiment, first, the current data and historical data of the stacker operation are obtained; secondly, the first path and the second path of the stacker operation are determined; then, at least according to the above-mentioned operation time of the stacker, the above-mentioned total time and the above-mentioned distance from other stackers, at least one of the first initial weight of the above-mentioned first path and the second initial weight of the above-mentioned second path is adjusted to obtain the first weight and the second weight; again, when the above-mentioned first weight is not less than the above-mentioned second weight, the operation path of the stacker is determined to be the above-mentioned first path, and when the above-mentioned first weight is less than the above-mentioned second weight, the operation path of the stacker is determined to be the above-mentioned second path; finally, the stacker is controlled to operate according to the above-mentioned operation path. Compared with the prior art, the solution of the present application determines a first path (i.e., the shortest path) and a second path that avoids congested areas, and adjusts a first initial weight of the first path and a second initial weight of the second path through current data and historical data, and obtains a first weight and a second weight, respectively. When the first weight is not less than the second weight, the stacker is controlled to run along the first path, and when the second weight is greater than the first weight, the stacker is controlled to run along the second path, so that the stacker can run along different paths according to different situations. If the stacker is controlled to run along the first path according to the current situation, the time taken is the shortest. If the stacker runs along the second path according to the current situation, the running time of the stacker can also be reduced when avoiding congested areas, thereby reducing the time it takes for the stacker to run from the starting point to the end point, thereby solving the problem of low operating efficiency of the stacker in the prior art.

[0163] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling the operation of a stacker, characterized in that: include: An acquisition step of acquiring current data and historical data of the stacker operation, wherein the current data at least includes the current position of the stacker and the distance to other stackers, and the historical data includes the running time from the starting point to the current position and the total waiting time; The first determination step is to determine a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from the starting point to the end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold; A second determining step, at least adjusting one of a first initial weight of the first path and a second initial weight of the second path according to at least the running time of the stacker, the total time and the distance from other stackers, to obtain a first weight and a second weight, wherein the first initial weight and the second initial weight are the same; A third determining step, in a case where the first weight is not less than the second weight, determining the running path of the stacker to be the first path, and in a case where the first weight is less than the second weight, determining the running path of the stacker to be the second path; A control step is to control the stacker to operate according to the operation path.

2. The method for controlling stacker operation according to claim 1, characterized in that: The first determining step comprises: Using an A* algorithm, at least according to the starting point, the current position and the end point, all nodes of the stacker are expanded; At least the starting point, the current position, all the nodes and the end point are connected to determine the first path of the stacker.

3. The method for controlling the operation of a stacker according to claim 2, characterized in that: Using the A* algorithm, all nodes of the stacker are expanded according to at least the starting point, the current position and the end point, including: Adding the starting point and the current position of the stacker operation to an open list, the open list being a list of the nodes to be explored; An adding step is performed to determine an adjacent node of the current position as a target adjacent node according to a first distance and a second distance, wherein the first distance is the distance between the adjacent node of the current position and the starting point, and the second distance is the distance between the adjacent node of the current position and the end point; The target adjacent node is added to the open list, and the target adjacent node is updated to the current position, and the adding step is repeated at least once until the last target adjacent node before the end point is added to the open list, thereby expanding all the nodes of the stacker, wherein the distance between the adjacent node of the current position and the current position, the distance between the last target adjacent node and the end point, and the distance between any two target adjacent nodes are the same.

4. The method for controlling the operation of a stacker according to claim 3, characterized in that: The adding step comprises: Calculating the distance between the starting point and the current position of the stacker to obtain a third distance, and calculating the distance between the current position and the end point of the stacker to obtain a fourth distance; Calculating the sum of the third distance and the fourth distance to obtain a first evaluation value; Calculating the first distance and the second distance of a plurality of the adjacent nodes of the current position, and calculating the sum of the first distance and the second distance corresponding to each of the adjacent nodes to obtain a plurality of second evaluation values; Determine the smallest second evaluation value among a plurality of second evaluation values ​​as a target evaluation value; According to the magnitude of the target evaluation value and the first evaluation value, it is determined whether the adjacent node corresponding to the target evaluation value is the target adjacent node.

5. The method for controlling the operation of a stacker according to claim 4, characterized in that: Determining, according to the magnitude of the target evaluation value and the first evaluation value, whether the adjacent node corresponding to the target evaluation value is the target adjacent node includes: When the target evaluation value is less than the first evaluation value, determining the adjacent node corresponding to the target evaluation value as the target adjacent node; When the target evaluation value is not less than the first evaluation value, the adding step is repeated at least once until the target evaluation value is less than the first evaluation value, and the adjacent node corresponding to the target evaluation value is determined to be the target adjacent node.

6. The method for controlling the operation of a stacker according to any one of claims 1 to 5, characterized in that: The first determining step further comprises: Using an ant colony algorithm, determining a plurality of candidate operation paths of the stacker; At least an optimal operation path among the plurality of candidate operation paths that enables the stacker to avoid the congested area is determined as the second path, and the optimal operation path is at least the shortest candidate operation path when avoiding the congested area.

7. The method for controlling the operation of a stacker according to any one of claims 1 to 5, characterized in that: The second determining step comprises: At least when the running time is greater than a first preset threshold, increasing the first initial weight to obtain the first weight; At least when the distance between the stacker and the other stackers is greater than a second preset threshold or the total time is less than a third preset threshold, the second initial weight is increased to obtain the second weight.

8. The method for controlling the operation of a stacker according to any one of claims 1 to 5, characterized in that: After the controlling step, the method further comprises: Real-time monitoring of the operation of the stacker; At least when the length of the running path exceeds a fourth preset threshold, the obtaining step, the first determining step, the second determining step and the third determining step are sequentially re-executed at least once until the length of the running path does not exceed the fourth preset threshold, thereby obtaining an updated running path; The stacker is controlled to operate according to the updated operation path.

9. A control device for stacker operation, characterized in that: include: an acquisition unit, configured to execute an acquisition step to acquire current data and historical data of the stacker operation, wherein the current data at least includes a current position, a current speed and a distance from other stackers of the stacker, and the historical data includes a running time from a starting point to the current position and a total waiting time; A first determining unit is used to execute a first determining step to determine a first path and a second path for the stacker to run, wherein the first path is the shortest path for the stacker to run from a starting point to an end point; the second path is a path for the stacker to run from the starting point to the end point avoiding a congested area, and the congested area is at least an area where the waiting time of the stacker exceeds a preset threshold; A second determining unit is used to perform a second determining step, at least adjusting one of a first initial weight of the first path and a second initial weight of the second path according to at least the running time of the stacker, the total time and the distance from other stackers, to obtain a first weight and a second weight, wherein the first initial weight and the second initial weight are the same; a third determining unit, configured to execute a third determining step, to determine that the running path of the stacker is the first path when the first weight is not less than the second weight, and to determine that the running path of the stacker is the second path when the first weight is less than the second weight; The control unit is used to execute the control step to control the stacker to operate according to the operation path.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for controlling the operation of the stacker according to any one of claims 1 to 8.

11. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the control method for stacker operation according to any one of claims 1 to 8.

12. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a control method for executing the operation of the stacker according to any one of claims 1 to 8.

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