Load rack scheduling system, method, device, equipment, medium and product

Abstract

The embodiment of the invention discloses a load frame dispatching system, method, device and equipment and a medium, and the system comprises a load frame, an automatic guide vehicle, a connection platform and load frame dispatching management equipment. Wherein the load frame is a device for loading a target object; the automatic guide vehicle is automatic moving equipment used for conveying the load frame; the connection table is used for identifying the automatic guide vehicle and providing a working table for loading or unloading a target object for the load frame conveyed by the automatic guide vehicle, and the connection table is provided with a device for triggering a scheduling request of the load frame; and the load frame scheduling management equipment is used for acquiring working state information reported by the load frame, the automatic guide vehicle and the connection tables, and is also used for taking a load frame scheduling request sent by any connection table, and scheduling the automatic guide vehicle according to the working state information and the load frame scheduling request so as to realize scheduling of the load frame. According to the technical scheme, the automation degree and efficiency of load frame dispatching can be improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of computer technology, and in particular, to a load rack scheduling system, method, device, equipment, medium and product. Background Art

[0002] The load racks in the disinfection supply center are used to carry the instruments to be disinfected to the disinfection area for disinfection. Usually, after a load rack is loaded with instruments, it is manually pushed to the cleaning machine for cleaning and disinfection by a trolley. After the cleaning and disinfection, the load rack also needs to be pulled out of the cleaning machine and manually pushed to the packing table by a trolley for inspection, classification and packaging of the instruments.

[0003] However, the above-mentioned loading rack moving process has a low degree of automation and is time-consuming and labor-intensive. In addition, since the loading rack that has just been dried at high temperature is at a high temperature, direct contact may easily cause burns. Summary of the invention

[0004] The embodiments of the present invention provide a load rack scheduling system method, device, equipment, medium and product, which can improve the automation and efficiency of load rack scheduling and reduce labor costs.

[0005] In a first aspect, an embodiment of the present invention provides a load rack scheduling system, the system comprising:

[0006] Load racks, automated guided vehicles, docking stations and load rack dispatching and management equipment;

[0007] Wherein, the load rack is a device for loading the target object;

[0008] Automated guided vehicles are automated mobile equipment used to transport load racks;

[0009] The docking station is used to identify the automated guided vehicle and provide a workbench for loading or unloading a target object for the load rack transported by the automated guided vehicle, and the docking station is provided with a device for triggering a load rack dispatch request;

[0010] The load rack scheduling management device is used to obtain the working status information reported by the load rack, the automatic guided vehicle and the docking station, and is also used to obtain the load rack scheduling request issued by any docking station, and schedule the automatic guided vehicle according to the working status information and the load rack scheduling request to realize the scheduling of the load rack.

[0011] In a second aspect, an embodiment of the present invention provides a load rack scheduling method, the method comprising:

[0012] Obtaining working status information reported by the load rack, the automatic guided vehicle and / or the docking station in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking station according to the working status information;

[0013] Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station issuing the load rack scheduling request is located;

[0014] According to the corresponding working states of the load rack and the automatic guided vehicle in the working area, an operation scheduling task corresponding to the load rack scheduling request is generated, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

[0015] In a third aspect, an embodiment of the present invention further provides a load rack scheduling device, the device comprising:

[0016] An operation status acquisition module is used to acquire the operation status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and update the operation status of the load rack, the automatic guided vehicle and / or the docking platform according to the operation status information;

[0017] A scheduling request acquisition module, used to acquire a load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located;

[0018] The scheduling task generation module is used to generate an operation scheduling task corresponding to the load rack scheduling request according to the corresponding working states of the load rack and the automatic guided vehicle in the working area, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0020] one or more processors;

[0021] A memory for storing one or more programs;

[0022] When one or more programs are executed by one or more processors, the one or more processors implement the load rack scheduling method provided by any embodiment of the present invention.

[0023] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a load rack scheduling method as provided in any embodiment of the present invention.

[0024] In a sixth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program, which, when executed by a processor, implements a load rack scheduling method as provided in any embodiment of the present invention.

[0025] The embodiments of the above invention have the following advantages or beneficial effects:

[0026] The embodiment of the present invention constructs a load rack scheduling system including a load rack, an automatic guided vehicle, a docking station and a load rack scheduling management device; wherein the load rack is a device for loading a target object; the automatic guided vehicle is an automated mobile device for transporting the load rack; the docking station is used to identify the automatic guided vehicle and provide a workbench for loading or unloading the target object for the load rack transported by the automatic guided vehicle, and the docking station is provided with a device for triggering a load rack scheduling request; the load rack scheduling management device is used to obtain the working status information reported by the load rack, the automatic guided vehicle and the docking station, and is also used to obtain the load rack scheduling request issued by any docking station, and schedule the automatic guided vehicle according to the working status information and the load rack scheduling request to realize the scheduling of the load rack. The technical solution of the embodiment of the present invention solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flow chart of a load rack scheduling system provided by an embodiment of the present invention;

[0028] Figure 2 This is a flow chart of a running scheduling task management provided by an embodiment of the present invention;

[0029] Figure 3 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0030] Figure 4 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0031] Figure 5 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0032] Figure 6 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0033] Figure 7 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0034] Figure 8 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0035] Fig. 9 is a flow chart of a load rack scheduling method provided by an embodiment of the present invention;

[0036] Fig.10 is a structural schematic diagram of a load rack scheduling device provided by an embodiment of the present invention;

[0037] Fig.11It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] Figure 1 A schematic diagram of the structure of a load rack scheduling system provided in an embodiment of the present invention is provided. This embodiment is applicable to scenarios where load racks are scheduled, particularly to scenarios where automated scheduling of load racks is achieved.

[0040] like Figure 1 As shown, the load rack scheduling system of this embodiment includes the following steps:

[0041] Load racks, automated guided vehicles, docking stations and load rack dispatch management equipment.

[0042] The load rack is a device for loading target objects, which can realize the transfer of target objects. The target objects can be objects corresponding to any business scenario, such as parts, equipment or food, which have physical location transfer requirements.

[0043] Automated Guided Vehicle (AGV) is an automated mobile device used to transport load racks. AGV is a transport device that can automatically travel along a preset path. It uses electromagnetic induction, optical recognition, laser navigation and other navigation technologies to determine its own position and run along the set route, thereby achieving tasks such as the transportation of materials (such as load racks).

[0044] The docking station is used to identify the automatic guided vehicle and provide a workbench for loading or unloading a target object for the load rack transported by the automatic guided vehicle, and the docking station is provided with a device for triggering a load rack scheduling request.

[0045] The method of identifying the automatic guided vehicle may be to identify the RFID tag on the AGV through a RFID device, or to identify the AGV through machine vision to determine the unique identification mark on the AGV. In addition, each device or apparatus in the load rack scheduling system may be provided with a unique identification mark to perform identification during the scheduling process.

[0046] The device for triggering the load rack scheduling request may be a physical button device for triggering the load rack scheduling request, or a virtual control button in the electronic device system. The physical or virtual button in the device for triggering the load rack scheduling request may be multiple buttons, each used to trigger different requests, or a button that can switch gears, with different gears triggering different requests.

[0047] The load rack scheduling management device can be a computer device or a server, etc., which is installed with a load rack scheduling system application, and can establish a communication connection with each device or equipment (docking station, automatic guided vehicle and load rack) in the load rack scheduling system, obtain the operating status information of each device and equipment and the load rack scheduling request, and generate an operating scheduling task for scheduling the automatic guided vehicle. The load rack scheduling management device is used to obtain the working status information reported by the load rack, the automatic guided vehicle and the docking station, and is also used to obtain the load rack scheduling request issued by any docking station, and schedule the automatic guided vehicle according to the working status information and the load rack scheduling request to realize the scheduling of the load rack.

[0048] In a specific implementation, there are multiple docking stations and they are set in different working areas. That is, multiple docking stations can be set in a working area, and multiple working areas can be set in the load rack scheduling scenario. The goal is to achieve the scheduling of load racks in a working area, and the cross-regional scheduling of load racks between multiple working areas. The unique identity of docking stations, automatic guided vehicles and other equipment or devices in different working areas can identify the corresponding working areas.

[0049] Correspondingly, the load rack scheduling management device can be used to: when a load rack scheduling request is obtained, identify the working area corresponding to the docking station that issued the load rack scheduling request; generate an operation scheduling task for the automatic guided vehicle according to the load rack scheduling request, and add the operation scheduling task to the work area task queue corresponding to the work area, so that the automatic guided vehicle performs the task according to the task order in the work area task queue, thereby realizing the scheduling of the load rack within the work area or between different work areas.

[0050] The load rack scheduling management device can start the queue task monitoring process for each work area task queue, monitor the task queue in real time, and execute the AGV scheduling tasks in sequence according to the queue time. For cross-area scheduling tasks between different work areas, queue tasks corresponding to multiple work areas associated with the cross-area scheduling tasks will be generated. When the corresponding queue task is executed, it is also necessary to determine whether the associated running scheduling task that needs to be executed first has been executed.

[0051] Furthermore, the load rack scheduling request includes a load rack calling request, a load rack storage request, and a load rack sending request. Accordingly, the load rack scheduling management device can be used to generate an operation scheduling task for scheduling an idle load rack to a corresponding docking station according to a load rack calling request; generate an operation scheduling task for scheduling an idle load rack of a corresponding docking station to a target load rack storage area according to a load rack storage request; generate an operation scheduling task for scheduling an idle load rack of a corresponding docking station across work areas according to a load rack sending request, or generate an operation scheduling task for scheduling a load rack loaded with a target object to a preset object processing position within a work area.

[0052] In a specific embodiment, the load rack is a load rack of a target disinfection center, the target object is an instrument that needs to be disinfected and cleaned, and the load rack system further includes: a cleaning machine for cleaning the target object loaded on the load rack. Accordingly, the load rack scheduling management device is also used to obtain the running status of the cleaning program of the cleaning machine, and determine the running scheduling task of the automatic guided vehicle according to the running status of the cleaning program to realize the scheduling of the load rack.

[0053] Specifically, during the process of automatic transfer and dispatch of load racks in the disinfection and decontamination link of the disinfection supply center, the working area includes a clean area and a contaminated area. In each working area, a docking station is provided for docking with the AGV trolley, and a platform for loading and unloading equipment for the load rack is provided. The load rack dispatching system also includes a transfer window, which is a device for one-way transfer of load racks from the clean area to the contaminated area. Each docking station, each cleaning machine, AGV trolley, and transfer window can be equipped with a radio frequency identification module (Radio Frequency Identification, RFID). Accordingly, a radio frequency identification tag can be set on each load rack to identify and distinguish different load racks. Each device and apparatus, including a cleaning machine, an AGV trolley, a transfer window, a docking station, and a garage sends its own real-time status data to the communication module at fixed intervals. The communication module carries the ID to package the data and report it to the dispatching system of the load rack dispatching management device. If there is a load rack at the current docking station, the electronic tag fixed on the load rack is identified by the UHF RFID module, and the electronic tag information is reported together. The dispatch system distinguishes the device by the communication module ID carried in the reported data, and writes the device status into the Redis cache. The cache corresponding to each communication module ID is set with an effective period. If the reported data is not received after the effective period, the device is considered offline. The dispatch management personnel can send a load rack call instruction through the terminal or physical button of the docking station in the contaminated area; the load rack dispatch management device can obtain the corresponding instruction, parse the instruction, generate a running dispatch task and add it to the work area task queue of the corresponding work area, so as to call the corresponding type of idle load rack to the docking station and wait for the equipment to be loaded.

[0054] The dispatch management personnel can send load rack instructions through the terminal or physical button of the docking station in the contaminated area; the load rack dispatch management device can obtain the corresponding instructions, parse the instructions, generate an operation scheduling task and add it to the work area task queue of the corresponding work area, so as to match the target cleaning machine according to the set cleaning machine matching priority based on the load rack type, and transport the load rack to the target cleaning machine. At the same time, according to the load rack type and the set disinfection program, instructions are issued to the cleaning machine to automatically start the specified program.

[0055] The dispatching manager can send a load rack storage instruction through the terminal or physical button of the docking station in the contaminated area; the load rack dispatching management device can obtain the corresponding instruction, parse the instruction, generate a running scheduling task and add it to the work area task queue of the corresponding work area to transport the load rack to any idle garage for the next call. Among them, the garage represents a platform or space location for storing idle load racks. If the idle garage in the contaminated area is full, any idle cleaning machine can be used as a garage, and the load rack can be transported to the cleaning machine for storage for the next call in the contaminated area.

[0056] After the cleaning machine is finished, it automatically sends a cleaning completion signal to the load rack scheduling management device. Accordingly, when the load rack scheduling management device obtains the cleaning program running end message, it can determine whether the cleaning machine associated with the cleaning program running end message has an associated load rack; if the cleaning machine has an associated load rack, it determines whether the associated load rack has an associated operation scheduling task; if the associated load rack does not have an associated operation scheduling task, it generates an operation scheduling task for the automatic guided vehicle corresponding to the associated load rack and adds it to the work area task queue of the corresponding work area, so as to schedule the associated load rack to the target position after cleaning. Among them, the target position can be an idle docking station in the cleaning area or a garage in the cleaning area.

[0057] The dispatching manager can send a load rack storage instruction through the terminal or physical button of the docking station in the clean area; the load rack scheduling management device can obtain the corresponding instruction, parse the instruction, generate an operation scheduling task and add it to the work area task queue of the corresponding work area, so as to transport the empty load rack of the corresponding docking station in the clean area to the contaminated area to any idle garage. If the idle garage in the contaminated area is full, any idle cleaning machine can be used as a garage, and the load rack can be transported to the cleaning machine for storage for the next call in the contaminated area. When cross-regional scheduling of load racks from the clean area to the contaminated area is carried out, the transfer can be carried out through the transfer window. The transfer window is a device that transfers the load rack from the first work area to the second work area in a unidirectional manner, and is called in the operation scheduling task of cross-work area scheduling; wherein the first work area is the clean area, and the second work area is the contaminated area where the cleaning operation is performed.

[0058] The dispatching management personnel can send load rack instructions through the terminal or physical button of the docking station in the clean area. The load rack dispatching management device can obtain the corresponding instructions, parse the instructions, generate an operation scheduling task and add it to the work area task queue of the corresponding work area to transport the empty load rack of the corresponding docking station in the clean area to any idle docking station in the contaminated area.

[0059] In this scenario, the process of managing the workspace task queues in different work areas can be referred to Figure 2 The process shown in the figure. Among them, the "clean area" corresponds to the clean area, and the "dirty area" corresponds to the dirty area. The tasks in the work area task queue are the running scheduling tasks generated by the load rack scheduling management device according to the load rack scheduling request. The execution of the queue tasks in the work area task queue can enable the corresponding AGV to execute when the corresponding execution judgment conditions are met.

[0060] The technical solution of the embodiment of the present invention is to construct a load rack scheduling system including a load rack, an automatic guided vehicle, a docking station and a load rack scheduling management device; wherein the load rack is a device for loading a target object; the automatic guided vehicle is an automated mobile device for transporting the load rack; the docking station is used to identify the automatic guided vehicle and provide a workbench for loading or unloading the target object for the load rack transported by the automatic guided vehicle, and the docking station is provided with a device for triggering a load rack scheduling request; the load rack scheduling management device is used to obtain the working status information reported by the load rack, the automatic guided vehicle and the docking station, and is also used to obtain the load rack scheduling request issued by any docking station, and schedule the automatic guided vehicle according to the working status information and the load rack scheduling request to realize the scheduling of the load rack. The technical solution of the embodiment of the present invention solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0061] Figure 3 This is a flow chart of a load rack scheduling method provided in an embodiment of the present invention. This embodiment is applicable to the scenario of a load rack with a transfer requirement being transferred, and is applicable to the load rack scheduling system described in any embodiment. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0062] like Figure 3 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0063] S110, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0064] The cleaning machine, AGV cart, transfer window, docking station, garage, etc. in the load rack scheduling system will send their real-time status data to the communication module at fixed intervals. The communication module will package the data with ID and report it to the scheduling system of the load rack scheduling management equipment.

[0065] Among them, when the docking station uploads the working status data, if there is a load rack on the docking station, the electronic tag fixed on the load rack will be identified by the ultra-high frequency RFID module, and the electronic tag information will be reported to the dispatching system of the load rack dispatching management device.

[0066] The dispatching system can identify each device or apparatus through the acquired working status data, and determine whether each device or apparatus is in working state or idle state, and whether there is a load rack on the docking station.

[0067] S120: Obtain a load rack scheduling request issued by any docking station, and determine a working area where the docking station that issued the load rack scheduling request is located.

[0068] The docking station is provided with a device for triggering a load rack dispatch request, and the dispatching manager can trigger the device for the load rack dispatch request to send a load rack dispatch request to the dispatching system. The dispatching system can parse the load rack dispatch request and determine the working area where the docking station that sends the load rack dispatch request is located according to the identification information of the docking station that sends the load rack dispatch request.

[0069] S130. Generate an operation scheduling task corresponding to the load rack scheduling request according to the corresponding working states of the load rack and the automatic guided vehicle in the working area, so that the corresponding target automatic guided vehicle executes the operation scheduling task to achieve scheduling of the target load rack.

[0070] The working states corresponding to the load racks and the automated guided vehicles may be working states that affect the generation of new tasks, such as whether there are idle load racks, whether there are load racks on the automated guided vehicle, whether the corresponding motion scheduling tasks have been assigned, etc. According to the working states corresponding to the load racks and the automated guided vehicles in the working area, an operation scheduling task corresponding to the load rack scheduling request may be generated in response to the acquired load rack scheduling request, so that the corresponding target automated guided vehicle executes the operation scheduling task, thereby realizing the automatic scheduling of the target load rack.

[0071] The technical solution of this embodiment obtains the working status information reported by the load rack, automatic guided vehicle and / or docking station in the load rack scheduling system, and updates the working status of the load rack, automatic guided vehicle and / or docking station according to the working status information; obtains the load rack scheduling request issued by any docking station, and determines the working area where the docking station that issued the load rack scheduling request is located; generates the operation scheduling task corresponding to the load rack scheduling request according to the corresponding working status of the load rack and automatic guided vehicle in the working area, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack. The technical solution of the embodiment of the present invention solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0072] Figure 4 A flow chart of a load rack scheduling method provided in an embodiment of the present invention. This embodiment and the load rack scheduling method in the above embodiment belong to the same inventive concept, and further describes the process of generating a running scheduling task corresponding to a load rack scheduling request when the load rack scheduling request is a load rack request issued by a docking station in a contaminated area. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0073] like Figure 4 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0074] S210, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0075] S220: Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located.

[0076] S230: Determine the load rack type of the target load rack according to the load rack scheduling request.

[0077] The types of load racks can be classified according to the number of layers of the load rack or according to the target objects suitable for transportation.

[0078] For example, the load racks include different types of load racks with three layers, four layers, five layers or other numbers of layers; the load racks include different types of load racks for carrying different target objects to be cleaned, and the target objects may be different types of objects such as dental equipment and surgical instruments to be cleaned.

[0079] The load rack scheduling request is called a load rack request, and the request information includes the type of load rack required.

[0080] S240, determining whether there is a load rack on the docking station according to the working status of the docking station that issued the request to call the load rack.

[0081] If there is a load rack on the docking station that issued the load rack request, then a new operation scheduling task cannot be generated based on the load rack request because the docking station is occupied. If there is no load rack on the docking station that issued the load rack request, then the process of generating an operation scheduling task can be carried out.

[0082] S250: When there is no load rack on the docking station that issues the request for calling the load rack, determine whether the docking station that issues the request for calling the load rack has an associated operation scheduling task.

[0083] Whether the docking station that issues the load rack request has an associated running scheduling task, that is, whether the docking station is executing other tasks, whether it is idle, or whether there are other running scheduling tasks to be executed. If so, the running scheduling task corresponding to the load rack request cannot be generated, otherwise it will conflict with other tasks.

[0084] S260: When the docking station has no associated operation scheduling task, determine whether there is an idle load rack of the load rack type in the working area.

[0085] S270: When there is an idle load rack of the load rack type, generate a running scheduling task corresponding to the load rack scheduling request.

[0086] If all the above judgment conditions are met, an operation scheduling task corresponding to the load rack request can be generated, that is, an operation scheduling task for pulling the idle load rack to the docking station that issued the load rack request can be pushed to the work area task queue of the contaminated area.

[0087] The technical solution of this embodiment can realize load rack scheduling when the load rack scheduling request is a load rack request issued by a docking station in a contaminated area through steps S210-S270; it solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0088] Figure 5 The flowchart of a load rack scheduling method provided in an embodiment of the present invention, this embodiment and the load rack scheduling method in the above embodiment belong to the same inventive concept, and further illustrates the process of generating a running scheduling task corresponding to a load rack scheduling request when the load rack scheduling request is a load rack request issued by a docking station in a contaminated area. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0089] like Figure 5 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0090] S310, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0091] S320: Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located.

[0092] S330: Determine whether the docking station that issues the request to send a load rack has a load rack.

[0093] If there is no load rack on the docking station that issues the request to send a load rack, that is, there is no load rack to send, then there is no need to generate the corresponding running scheduling task.

[0094] S340: When the docking station that issues the request to send a load rack has a load rack, determine whether the corresponding load rack has an associated operation scheduling task.

[0095] If the load rack has an associated operation scheduling task, then the load rack cannot be sent out temporarily. Therefore, when the corresponding load rack has an associated operation scheduling task, there is no need to generate a corresponding operation scheduling task.

[0096] S350: When the docking station that issues the request to send a load rack has a load rack and the corresponding load rack has no associated operation scheduling task, determine whether there is a cleaning machine in an idle state.

[0097] S360: When there is an idle cleaning machine, determine the target cleaning machine according to the load rack type of the load rack on the docking station that issued the load rack request and the preset cleaning machine matching priority.

[0098] Different load rack types can be matched with different cleaning machines. For example, if a certain type of load rack can only be cleaned in two designated cleaning machines, then the matching priority between these two cleaning racks and this type of load rack can be set.

[0099] S370: Determine the operation scheduling task corresponding to the load rack scheduling request based on the target cleaning machine.

[0100] The operation scheduling task corresponding to the load rack scheduling request determined based on the target cleaning machine is the operation scheduling task of transporting the load rack to the target cleaning machine. Correspondingly, after the load rack is transported to the target cleaning machine, a disinfection instruction can be issued to the target cleaning machine to start the program for cleaning the target object on the load rack according to the disinfection program corresponding to the load rack type.

[0101] The technical solution of this embodiment can realize load rack scheduling when the load rack scheduling request is issued by a docking station in a contaminated area through steps S310-S370; it solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0102] Figure 6 The flowchart of a load rack scheduling method provided in an embodiment of the present invention, which belongs to the same inventive concept as the load rack scheduling method in the above embodiment, further illustrates the process of generating a running scheduling task corresponding to a load rack scheduling request when the load rack scheduling request is a load rack storage request issued by a docking station in a contaminated area. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0103] like Figure 6 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0104] S410, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0105] S420: Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located.

[0106] S430, determining whether there is a load rack on the docking station according to the working status of the docking station that issued the request to store the load rack.

[0107] If there is no load rack on the docking station that issues the request to store the load rack, there is no load rack to be stored, so there is no need to generate a running scheduling task corresponding to the request to store the load rack.

[0108] S440: When there is a load rack on the docking station that issues the load rack storage request, determine whether the load rack on the docking station that issues the load rack storage request has an associated operation scheduling task.

[0109] If the load rack on the docking station has an associated running scheduling task, then the task must be waited for and cannot be sent, otherwise it will affect the execution of the existing associated running scheduling task. Therefore, when the load rack on the docking station that issues the load rack storage request has an associated running scheduling task, there is no need to generate the running scheduling task corresponding to the load rack storage request.

[0110] S450: When the load rack on the docking station that issues the load rack storage request has no associated operation scheduling task, determine whether there is an idle load rack storage position in the cleaning area.

[0111] S460: When there is an idle load rack storage location, generate a running scheduling task corresponding to the load rack scheduling request.

[0112] After the running scheduling task is generated, the running scheduling task corresponding to the storage and load rack request can be pushed to the work area task queue of the corresponding work area to wait for the execution of the task.

[0113] The technical solution of this embodiment can realize load rack scheduling when the load rack scheduling request is a load rack storage request issued by a docking station in a contaminated area through steps S410-S460; it solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0114] Figure 7 The flowchart of a load rack scheduling method provided in an embodiment of the present invention, this embodiment and the load rack scheduling method in the above embodiment belong to the same inventive concept, and further illustrates the process of generating a running scheduling task corresponding to the load rack scheduling request when the load rack scheduling request is a load rack request issued by a docking station in a cleaning area. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0115] like Figure 7 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0116] S510, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0117] S520: Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located.

[0118] S530: Determine whether the docking station that issues the request to send a load rack has a load rack.

[0119] If the docking station that issues the request to send a load rack does not have a load rack, there is no load rack to be transported, and there is no need to generate a running scheduling task corresponding to the request to send a load rack.

[0120] S540: When the docking station that issues the request to send a load rack has a load rack, determine whether the corresponding load rack has an associated operation scheduling task.

[0121] If the load rack on the docking station that issues the load rack dispatch request has an associated operation scheduling task, it cannot be sent for transfer, and there is no need to generate an operation scheduling task corresponding to the load rack dispatch request.

[0122] S550: When the docking station that issues the request to send a load rack has a load rack and the corresponding load rack has no associated operation scheduling task, determine whether there is an idle docking station in the contaminated area.

[0123] Idle load racks in the clean area can be transferred to the contaminated area for training. Therefore, when the docking station that issues the load rack request has load racks and the corresponding load rack has no associated operation scheduling task, the corresponding operation scheduling task can be generated, but it is necessary to first determine whether there is an idle docking station. If there is no idle docking station in the contaminated area, there is no need to generate the operation scheduling task corresponding to the load rack request.

[0124] S560: When there is an idle docking station in the contaminated area, generate an operation scheduling task corresponding to the load rack scheduling request.

[0125] Among them, the operation scheduling task is a cross-regional linkage task between clean areas and polluted areas.

[0126] The corresponding operation scheduling task in the work area task queue in the clean area is to dispatch the load rack from the docking station in the clean area to the entrance of the transfer window. The queue task in the work area task queue corresponding to the contaminated area can be to dispatch the load rack from the exit of the transfer window to the pre-determined idle docking station position in the contaminated area.

[0127] The technical solution of this embodiment can realize load rack scheduling when the load rack scheduling request is issued by the docking station in the cleaning area through steps S510-S560; it solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0128] Figure 8 The flowchart of a load rack scheduling method provided in an embodiment of the present invention, which belongs to the same inventive concept as the load rack scheduling method in the above embodiment, further illustrates the process of generating a running scheduling task corresponding to the load rack scheduling request when the load rack scheduling request is a load rack storage request issued by a docking station in a cleaning area. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0129] like Figure 8 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0130] S610, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0131] S620: Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located.

[0132] S630: Determine whether there is a load rack on the docking station according to the working status of the docking station that issued the request for storing the load rack. If there is no load rack on the docking station that issued the request for storing the load rack, there is no load rack to be stored, and there is no need to generate a running scheduling task corresponding to the request for storing the load rack.

[0133] S640: When there is a load rack on the docking station that issues the load rack storage request, determine whether the load rack on the docking station that issues the load rack storage request has an associated operation scheduling task.

[0134] If the load rack on the docking station has an associated running scheduling task, then the task must be waited for and cannot be sent, otherwise it will affect the execution of the existing associated running scheduling task. Therefore, when the load rack on the docking station that issues the load rack storage request has an associated running scheduling task, there is no need to generate the running scheduling task corresponding to the load rack storage request.

[0135] S650: When the load rack on the docking station that issues the load rack storage request has no associated operation scheduling task, determine whether there is an idle load rack storage location in the contaminated area.

[0136] S660: When there is an idle load rack storage location, generate a running scheduling task corresponding to the load rack scheduling request.

[0137] Among them, the operation scheduling task is a cross-regional linkage task between clean areas and polluted areas.

[0138] The technical solution of this embodiment can realize load rack scheduling when the load rack scheduling request is a load rack storage request issued by the docking station in the cleaning area through steps S610-S660; it solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0139] Fig. 9 This is a flow chart of a load rack scheduling method provided in an embodiment of the present invention. This embodiment and the load rack scheduling method in the above embodiment belong to the same inventive concept, and further illustrates the process of generating corresponding operation scheduling tasks according to the working state of the cleaning machine. The method can be executed by a load rack scheduling device, which can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0140] like Fig. 9 As shown, the load rack scheduling method of this embodiment includes the following steps:

[0141] S710, obtaining the working status information reported by the load rack, the automatic guided vehicle and / or the docking platform in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking platform according to the working status information.

[0142] S720: When a message indicating that the cleaning program of a cleaning machine has been completed is obtained in the load rack scheduling system, it is determined whether the cleaning machine associated with the message indicating that the cleaning program has been completed has an associated load rack.

[0143] If the cleaning machine associated with the cleaning program operation end message has no associated load rack, there is no need to respond to the cleaning program operation end message, thereby avoiding repeated responses to the cleaning program operation end message.

[0144] S730: When the cleaning machine has an associated load rack, determine whether the associated load rack has an associated operation scheduling task.

[0145] If the associated load rack has an associated running scheduling task, there is no need to schedule the corresponding load rack to avoid affecting the execution of the existing running scheduling task, and there is no need to respond to the cleaning program running end message.

[0146] S740: If the associated load rack has no associated operation scheduling task, generate an operation scheduling task for the automatic guided vehicle corresponding to the associated load rack to schedule the associated load rack to a target position after cleaning.

[0147] The target location after cleaning may be an idle docking station in the cleaning area, or a load rack storage garage or the like.

[0148] The technical solution of this embodiment can achieve scheduling of the load rack according to the working status of the cleaning machine when the cleaning program of the cleaning machine is completed through steps S710-S740; it solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0149] Fig.10 A structural schematic diagram of a load rack scheduling device provided in an embodiment of the present invention. This embodiment can be applied to scenarios where load racks are scheduled, especially to situations where automatic scheduling of load racks is realized. The load rack scheduling device can be implemented by software and / or hardware and integrated into a computer terminal device with application development capabilities.

[0150] like Fig.10 The load rack scheduling device shown includes: an operation status acquisition module 810 , a scheduling request acquisition module 820 and a scheduling task generation module 830 .

[0151] Among them, the operation status acquisition module 810 is used to obtain the working status information reported by the load rack, automatic guided vehicle and / or docking station in the load rack scheduling system, and update the idle or working status of the load rack, automatic guided vehicle and / or docking station according to the working status information; the scheduling request acquisition module 820 is used to obtain the load rack scheduling request issued by any docking station, and determine the working area where the docking station that issued the load rack scheduling request is located; the scheduling task generation module 830 is used to generate the operation scheduling task corresponding to the load rack scheduling request according to the corresponding idle or working status of the load racks and automatic guided vehicles in the working area, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

[0152] The technical solution of this embodiment obtains the working status information reported by the load rack, automatic guided vehicle and / or docking station in the load rack scheduling system, and updates the working status of the load rack, automatic guided vehicle and / or docking station according to the working status information; obtains the load rack scheduling request issued by any docking station, and determines the working area where the docking station that issued the load rack scheduling request is located; generates the operation scheduling task corresponding to the load rack scheduling request according to the corresponding working status of the load rack and automatic guided vehicle in the working area, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack. The technical solution of the embodiment of the present invention solves the problem of low efficiency and high labor cost of manual load rack scheduling, and can improve the automation degree and efficiency of load rack scheduling.

[0153] In an optional implementation manner, when the load rack scheduling request is a load rack scheduling request issued by a docking station in a contaminated area, the scheduling task generation module 830 is specifically used to:

[0154] determining a load rack type of a target load rack according to the load rack scheduling request;

[0155] Determine whether there is a load rack on the docking station according to the working status of the docking station that issued the request to call the load rack;

[0156] When there is no load rack on the docking station that issues the request to call the load rack, determining whether the docking station that issues the request to call the load rack has an associated operation scheduling task;

[0157] When the docking station has no associated running scheduling task, determine whether there is an idle load rack of the load rack type in the working area;

[0158] When there is an idle load rack of the load rack type, a running scheduling task corresponding to the load rack scheduling request is generated.

[0159] In an optional implementation manner, when the load rack scheduling request is a load rack scheduling request issued by a docking station in a contaminated area, the scheduling task generation module 830 is specifically used to:

[0160] Determine whether the docking station that issues the request to send a load rack has a load rack;

[0161] In the case that the docking station that issues the request to send a load rack has a load rack, determining whether the corresponding load rack has an associated operation scheduling task;

[0162] When the docking station that issues the load rack request has a load rack and the corresponding load rack has no associated operation scheduling task, determining whether there is an idle cleaning machine;

[0163] In the case where there is an idle cleaning machine, the target cleaning machine is determined according to the load rack type of the load rack on the docking station that issues the load rack request and the preset cleaning machine matching priority;

[0164] Determine the operation scheduling task corresponding to the load rack scheduling request based on the target cleaning machine.

[0165] In an optional implementation, when the load rack scheduling request is a load rack storage request issued by a docking station in a contaminated area, the scheduling task generation module 830 is specifically used to:

[0166] Determine whether there is a load rack on the docking station according to the working status of the docking station that issued the request to store the load rack;

[0167] When there is a load rack on the docking station that issues the request to store the load rack, determine whether the load rack on the docking station that issues the request to store the load rack has an associated running scheduling task;

[0168] When there is no associated running scheduling task for the load rack on the docking station that issues the load rack storage request, determining whether there is an idle load rack storage location in the cleaning area;

[0169] In the case where there is an idle load rack storage location, a running scheduling task corresponding to the load rack scheduling request is generated.

[0170] In an optional implementation, when the load rack scheduling request is a load rack scheduling request issued by a docking station in a cleaning area, the scheduling task generation module 830 is specifically used to:

[0171] Determine whether the docking station that issues the request to send a load rack has a load rack;

[0172] In the case that the docking station that issues the request to send a load rack has a load rack, determining whether the corresponding load rack has an associated operation scheduling task;

[0173] When the docking station that issues the request for sending a load rack has a load rack and the corresponding load rack has no associated operation scheduling task, determine whether there is an idle docking station in the contaminated area;

[0174] When there is an idle docking station in the contaminated area, generate an operation scheduling task corresponding to the load rack scheduling request;

[0175] Among them, the operation scheduling task is a cross-regional linkage task between clean areas and polluted areas.

[0176] In an optional implementation, when the load rack scheduling request is a load rack storage request issued by a docking station in a cleaning area, the scheduling task generation module 830 is specifically used to:

[0177] Determine whether there is a load rack on the docking station according to the working status of the docking station that issued the request to store the load rack;

[0178] When there is a load rack on the docking station that issues the request to store the load rack, determine whether the load rack on the docking station that issues the request to store the load rack has an associated running scheduling task;

[0179] When the load rack on the docking station that issues the load rack storage request has no associated running scheduling task, determining whether there is an idle load rack storage location in the contaminated area;

[0180] In the case where there is an idle load rack storage location, generating a running scheduling task corresponding to the load rack scheduling request;

[0181] Among them, the operation scheduling task is a cross-regional linkage task between clean areas and polluted areas.

[0182] In an optional implementation, the scheduling task generation module 830 may also be used to:

[0183] When a cleaning program running end message of a cleaning machine in the load rack scheduling system is obtained, determining whether the cleaning machine associated with the cleaning program running end message has an associated load rack;

[0184] In the case where the cleaning machine has an associated load rack, determining whether the associated load rack has an associated operation scheduling task;

[0185] In the case that the associated load rack has no associated operation scheduling task, an operation scheduling task for the automatic guided vehicle corresponding to the associated load rack is generated to schedule the associated load rack to a target position after cleaning.

[0186] The load rack scheduling device provided in the embodiment of the present invention can execute the load rack scheduling method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0187] Fig.11 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Fig.11 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Fig.11 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities, such as an intelligent controller and server, a mobile phone and other terminal devices.

[0188] like Fig.11 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0189] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0190] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0191] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Fig.11 not shown, usually called a "hard drive"). Although Fig.11 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0192] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0193] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be understood that although Fig.11 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0194] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the load rack scheduling method provided in the embodiment of the present invention, the method comprising:

[0195] Obtaining working status information reported by the load rack, the automatic guided vehicle and / or the docking station in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking station according to the working status information;

[0196] Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station issuing the load rack scheduling request is located;

[0197] According to the corresponding working states of the load rack and the automatic guided vehicle in the working area, an operation scheduling task corresponding to the load rack scheduling request is generated, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

[0198] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the load rack scheduling method provided in any embodiment of the present invention is implemented. The method includes:

[0199] Obtaining working status information reported by the load rack, the automatic guided vehicle and / or the docking station in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking station according to the working status information;

[0200] Obtain a load rack scheduling request issued by any docking station, and determine the working area where the docking station issuing the load rack scheduling request is located;

[0201] According to the corresponding working states of the load rack and the automatic guided vehicle in the working area, an operation scheduling task corresponding to the load rack scheduling request is generated, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

[0202] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0203] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0204] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0205] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0206] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, 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.

[0207] An embodiment of the present disclosure further provides a computer program product, including a computer program, which, when executed by a processor, implements the load rack scheduling method provided in any embodiment of the present disclosure.

[0208] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code for the disclosed operation, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0209] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A load rack scheduling system, characterized in that: include: Load racks, automated guided vehicles, docking stations and load rack dispatching and management equipment; Wherein, the load rack is a device for loading a target object; The automatic guided vehicle is an automated mobile device for transporting the load rack; The docking station is used to identify the automated guided vehicle and provide a workbench for loading or unloading a target object for the load rack transported by the automated guided vehicle, and the docking station is provided with a device for triggering a load rack scheduling request; The load rack scheduling management device is used to obtain the working status information reported by the load rack, the automatic guided vehicle and the docking station, and is also used to obtain a load rack scheduling request issued by any of the docking stations, and schedule the automatic guided vehicle according to the working status information and the load rack scheduling request to realize the scheduling of the load rack.

2. The system according to claim 1, characterized in that The load rack scheduling management device is used for: When the load rack scheduling request is obtained, identifying the working area corresponding to the docking station that issued the load rack scheduling request; An operation scheduling task for the automatic guided vehicle is generated according to the load frame scheduling request, and the operation scheduling task is added to the work area task queue corresponding to the work area, so that the automatic guided vehicle performs the task according to the task sequence in the work area task queue, thereby realizing the scheduling of the load frame within the work area or between different work areas.

3. The system according to claim 2, characterized in that The load rack scheduling request includes a load rack calling request, a load rack storage request and a load rack sending request; accordingly, The load rack scheduling management device is used to generate an operation scheduling task for scheduling idle load racks to corresponding docking stations according to the load rack request; The load rack scheduling management device is used to generate an operation scheduling task for scheduling the idle load racks of the corresponding docking station to the target load rack storage area according to the load rack storage request; The load rack scheduling management device is used to generate an operation scheduling task for scheduling the idle load racks of the corresponding docking station across the working area according to the load rack request, or to generate an operation scheduling task for scheduling the load rack loaded with the target object to the preset object processing position in the working area.

4. The system according to any one of claims 1 to 3, characterized in that: The load rack is a load rack of a target disinfection center, and the target object is an instrument that needs to be disinfected and cleaned. Accordingly, the system further includes: a cleaning machine for cleaning the target object loaded on the load rack; The load rack scheduling management device is also used to obtain the running status of the cleaning program of the cleaning machine, and determine the running scheduling task of the automatic guided vehicle according to the running status of the cleaning program to realize the scheduling of the load rack.

5. The system according to claim 4, characterized in that The load rack scheduling management device is used for: When a cleaning program running end message is obtained, determining whether the cleaning machine associated with the cleaning program running end message has an associated load rack; In the case where the cleaning machine has an associated load rack, determining whether the associated load rack has an associated operation scheduling task; In the case that the associated load rack has no associated operation scheduling task, an operation scheduling task for an automatic guided vehicle corresponding to the associated load rack is generated to schedule the associated load rack to a target position after cleaning.

6. The system according to claim 4, characterized in that The system also includes a transfer window, which is a device for unidirectionally transferring the load rack from the first working area to the second working area, and is called in the operation scheduling task of cross-working area scheduling; wherein the first working area is a clean area, and the second working area is a contaminated area for cleaning operations.

7. A load rack scheduling method, applicable to the load rack scheduling system as claimed in any one of claims 1 to 6, characterized in that: include: Obtaining working status information reported by a load rack, an automatic guided vehicle and / or a docking station in the load rack scheduling system, and updating the working status of the load rack, the automatic guided vehicle and / or the docking station according to the working status information; Obtaining a load rack scheduling request issued by any docking station, and determining a working area where the docking station issuing the load rack scheduling request is located; According to the working states corresponding to the load rack and the automatic guided vehicle in the working area, an operation scheduling task corresponding to the load rack scheduling request is generated, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

8. The method according to claim 7, characterized in that When the load rack scheduling request is a load rack request issued by a docking station in a contaminated area, generating an operation scheduling task corresponding to the load rack scheduling request according to the working states corresponding to the load racks and the automatic guided vehicles in the working area includes: Determining a load rack type of a target load rack according to the load rack scheduling request; Determining whether there is a load rack on the docking station according to the working status of the docking station that issued the load rack request; When there is no load rack on the docking station that issues the request to call the load rack, determining whether the docking station that issues the request to call the load rack has an associated operation scheduling task; When the docking station has no associated operation scheduling task, determining whether there is an idle load rack of the load rack type in the working area; In the case that there is an idle load rack of the load rack type, a running scheduling task corresponding to the load rack scheduling request is generated.

9. The method according to claim 7, characterized in that: When the load rack scheduling request is a load rack scheduling request issued by a docking station in a contaminated area, generating an operation scheduling task corresponding to the load rack scheduling request according to the working states corresponding to the load racks and the automatic guided vehicles in the working area includes: Determining whether the docking station that issues the request to send the load rack has a load rack; In the case where the docking station that issues the load rack request has a load rack, determining whether the corresponding load rack has an associated operation scheduling task; When the docking station that issues the load rack request has a load rack and the corresponding load rack has no associated operation scheduling task, determining whether there is an idle cleaning machine; In the case where there is an idle cleaning machine, the target cleaning machine is determined according to the load rack type of the load rack on the docking station that issues the load rack request and according to the preset cleaning machine matching priority; An operation scheduling task corresponding to the load rack scheduling request is determined based on the target cleaning machine.

10. The method according to claim 7, characterized in that When the load rack scheduling request is a load rack storage request issued by a docking station in a contaminated area, generating an operation scheduling task corresponding to the load rack scheduling request according to the working states corresponding to the load racks and the automatic guided vehicles in the working area includes: Determining whether there is a load rack on the docking station according to the working status of the docking station that issued the request to store the load rack; When there is a load rack on the docking station that issues the load rack storage request, determining whether the load rack on the docking station that issues the load rack storage request has an associated operation scheduling task; When the load rack on the docking station that issues the load rack storage request has no associated operation scheduling task, determining whether there is an idle load rack storage position in the cleaning area; In the case where there is an idle load rack storage position, a running scheduling task corresponding to the load rack scheduling request is generated.

11. The method according to claim 7, characterized in that When the load rack scheduling request is a load rack scheduling request issued by a docking station in a cleaning area, generating an operation scheduling task corresponding to the load rack scheduling request according to the working states corresponding to the load racks and the automatic guided vehicles in the working area includes: Determining whether the docking station that issues the request to send the load rack has a load rack; In the case where the docking station that issues the load rack request has a load rack, determining whether the corresponding load rack has an associated operation scheduling task; When the docking station that issues the load rack request has a load rack and the corresponding load rack has no associated operation scheduling task, determining whether there is an idle docking station in the contaminated area; In the case where there is an idle docking station in the contaminated area, generating an operation scheduling task corresponding to the load rack scheduling request; The operation scheduling task is a cross-region linkage task between the clean area and the polluted area.

12. The method according to claim 7, characterized in that When the load rack scheduling request is a load rack storage request issued by a docking station in a cleaning area, generating an operation scheduling task corresponding to the load rack scheduling request according to the working states corresponding to the load racks and the automatic guided vehicles in the working area includes: Determining whether there is a load rack on the docking station according to the working status of the docking station that issued the request to store the load rack; When there is a load rack on the docking station that issues the load rack storage request, determining whether the load rack on the docking station that issues the load rack storage request has an associated operation scheduling task; When the load rack on the docking station that issues the load rack storage request has no associated operation scheduling task, determining whether there is an idle load rack storage position in the contaminated area; In the case where there is an idle load rack storage position, generating a running scheduling task corresponding to the load rack scheduling request; The operation scheduling task is a cross-region linkage task between the clean area and the polluted area.

13. The method according to claim 7, characterized in that The method further comprises: When a cleaning program running end message of a cleaning machine in the load rack scheduling system is obtained, determining whether the cleaning machine associated with the cleaning program running end message has an associated load rack; In the case where the cleaning machine has an associated load rack, determining whether the associated load rack has an associated operation scheduling task; In the case that the associated load rack has no associated operation scheduling task, an operation scheduling task for an automatic guided vehicle corresponding to the associated load rack is generated to schedule the associated load rack to a target position after cleaning.

14. A load rack scheduling device, configured at a client, characterized in that: include: An operation status acquisition module, used for acquiring the operation status information reported by the load rack, the automatic guided vehicle and / or the docking station in the load rack scheduling system, and updating the idle or working status of the load rack, the automatic guided vehicle and / or the docking station according to the operation status information; A scheduling request acquisition module, used to acquire a load rack scheduling request issued by any docking station, and determine a working area where the docking station issuing the load rack scheduling request is located; The scheduling task generation module is used to generate an operation scheduling task corresponding to the load rack scheduling request according to the idle or working status corresponding to the load rack and the automatic guided vehicle in the working area, so that the corresponding target automatic guided vehicle executes the operation scheduling task to realize the scheduling of the target load rack.

15. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the load rack scheduling method as described in any one of claims 7 to 13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the load rack scheduling method as described in any one of claims 7 to 13 is implemented.

17. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the load rack scheduling method according to any one of claims 7 to 13.

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