Multi-equipment logistics control method, device and equipment based on information interaction and flexible scheduling

Abstract

The invention relates to a multi-device logistics control method, device and equipment based on information interaction and flexible scheduling, and the method comprises the steps: obtaining the conveying path information and equipment state information of each conveying device in a logistics region, and determining whether the conveying paths of every two conveying devices have conflicting intersections or not according to the conveying path information; if yes, determining the required time for reaching the intersection and the maintenance time for passing through the intersection according to the intersection position coordinates of the transmission path information and the equipment state information of the corresponding transmission equipment; determining a cross time set according to the required time and the maintenance time of each conveying device; according to the crossing time set of every two conveying devices, the conveying devices needing deceleration processing and the conveying devices needing deceleration processing are determined, and deceleration instructions are issued to the conveying devices; controlling the corresponding conveying equipment to perform deceleration operation according to the deceleration instruction; besides the conventional task of the conveying equipment, the pre-judgment avoiding task is issued in advance, and the passing efficiency of the logistics area is improved.

Description

Technical Field

[0001] The present application relates to the field of transportation technology, and in particular to a multi-device logistics control method, device and equipment based on information interaction and flexible scheduling. Background Art

[0002] The use of flexible conveying equipment in production lines has become one of the mainstreams of today's manufacturing industry. They can realize the automation, efficiency and flexibility of the production process. For example, in existing production lines, the flexible dispatching conveying equipment generally adopts task-based dispatching, and the avoidance action between conveying equipment is a passive trigger mechanism, which will reduce the operating efficiency of certain conveying equipment. Summary of the invention

[0003] The present application provides a multi-device logistics control method, device and equipment based on information interaction and flexible scheduling, which is used to solve the technical problem that the task scheduling technology between flexible conveying equipment on the existing production line is passively triggered, resulting in low traffic efficiency of conveying equipment on the production line.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] On the one hand, a multi-equipment logistics control method based on information interaction and flexible scheduling is provided, comprising the following steps:

[0006] Acquire a docking area where the automatic guided vehicle is traveling and establish a coordinate system in the docking area, acquire target coordinate information of a target point and position coordinate information of the automatic guided vehicle in the coordinate system; set a front path and a rear path according to the target point and the coordinate system;

[0007] Calculate a coordinate difference according to the position coordinate information and the target coordinate information, and determine whether the automatic guided vehicle is positioned and docked with the target point according to whether the coordinate difference meets an error condition;

[0008] If the coordinate difference does not meet the error condition and the automatic guided vehicle is not positioned and docked with the target point, a driving path is generated according to the position coordinate information, the front path and the rear path according to the rule of first advancing and then retreating; a pure tracking algorithm is used to control the automatic guided vehicle to run according to the driving path, the position and driving path of the automatic guided vehicle are continuously updated, and the updated position coordinate information of the automatic guided vehicle is obtained in real time until the error between the updated position coordinate information and the target coordinate information is within the error condition, so that the automatic guided vehicle is positioned and docked with the target point.

[0009] Preferably, issuing a deceleration instruction to the conveying device includes:

[0010] Determine the conveying equipment that needs to be decelerated by comparing the required time of each of the conveying equipment, and obtain the intersection position coordinates of the intersection;

[0011] The deceleration time of the conveying device is calculated according to the required time of the conveying device, the required time of another conveying device and the maintenance time;

[0012] The deceleration instruction is generated according to the deceleration time, the intersection position coordinates, and the current position coordinates of the conveying device and the required time.

[0013] Preferably, controlling the corresponding conveying equipment to decelerate according to the deceleration instruction includes:

[0014] Calculating the deceleration distance according to the intersection position coordinates and the current position coordinates of the conveying device;

[0015] The deceleration speed is calculated according to the deceleration time, the time required for the conveying equipment and the deceleration distance;

[0016] The conveying equipment is decelerated according to the deceleration speed control.

[0017] Preferably, the multi-device logistics control method based on information interaction and flexible scheduling includes: if there is no need to slow down one of the two conveying devices, issuing a maintenance operation instruction to the corresponding two conveying devices; and controlling the operation of the conveying equipment according to the maintenance operation instruction.

[0018] Preferably, judging whether it is necessary to decelerate one of the two conveying devices according to the intersection time sets of the two conveying devices includes: if the intersection time sets of the two conveying devices have an intersection, it is necessary to decelerate one of the two conveying devices; if the intersection time sets of the two conveying devices do not have an intersection, it is not necessary to decelerate one of the two conveying devices.

[0019] In yet another aspect, a multi-equipment logistics control device based on information interaction and flexible scheduling is provided, comprising an information acquisition module, a crossing time determination module, a deceleration judgment module, and a deceleration avoidance module;

[0020] The information acquisition module is used to acquire the conveying path information and equipment status information of each conveying equipment in the logistics area, and determine whether there are conflicting intersections between the conveying paths of the conveying equipment according to the conveying path information;

[0021] The intersection time determination module is used to determine the time required for the corresponding conveying device to reach the intersection and the time to maintain the intersection according to the intersection position coordinates of the conveying path information and the device status information of the corresponding conveying device based on the existence of conflicting intersections in the conveying paths of the two conveying devices;

[0022] The deceleration judgment module is used to determine the crossover time set corresponding to the conveying device according to the required time and the maintenance time of each conveying device; and judge whether it is necessary to decelerate one of the conveying devices in pairs according to the crossover time sets of the conveying devices in pairs;

[0023] The deceleration and avoidance module is used to decelerate one of the two conveying devices as needed, determine the conveying device that needs to be decelerated and issue a deceleration instruction to the conveying device; and control the corresponding conveying device to decelerate according to the deceleration instruction.

[0024] Preferably, the deceleration avoidance module comprises: a device determination submodule, a calculation submodule and an instruction generation submodule;

[0025] The equipment determination submodule is used to determine the transportation equipment that needs to be decelerated based on the comparison of the required time of each of the transportation equipments, and to obtain the intersection position coordinates of the intersection;

[0026] The calculation submodule is used to calculate the deceleration time of the conveying device according to the required time of the conveying device and the required time and the maintenance time of another conveying device;

[0027] The instruction generation submodule is used to generate the deceleration instruction according to the deceleration time, the intersection position coordinates, the current position coordinates of the conveying device and the required time.

[0028] Preferably, the deceleration and avoidance module is also used to calculate the deceleration distance based on the intersection position coordinates and the current position coordinates of the conveying equipment; calculate the deceleration speed based on the deceleration time, the required time of the conveying equipment and the deceleration distance; and control the corresponding conveying equipment to decelerate according to the deceleration speed.

[0029] Preferably, the deceleration judgment module is also used for, if there is an intersection between the intersection time sets of the two conveying devices, it is necessary to decelerate one of the two conveying devices; or if there is no intersection between the intersection time sets of the two conveying devices, it is not necessary to decelerate one of the two conveying devices.

[0030] In another aspect, a terminal device is provided, comprising a processor and a memory;

[0031] The memory is used to store program codes and transmit the program codes to the processor;

[0032] The processor is used to execute the above-mentioned multi-equipment logistics control method based on information interaction and flexible scheduling according to the instructions in the program code.

[0033] The multi-device logistics control method, device and equipment based on information interaction and flexible scheduling, the multi-device logistics control method based on information interaction and flexible scheduling includes obtaining the conveying path information and equipment status information of each conveying equipment in the logistics area, determining whether there are conflicting intersections in the conveying paths of the two conveying equipment according to the conveying path information; if there are conflicting intersections in the conveying paths of the two conveying equipment, determining the required time for the corresponding conveying equipment to reach the intersection and the maintenance time for passing the intersection according to the intersection position coordinates of the conveying path information and the equipment status information of the corresponding conveying equipment; determining the intersection time set of the corresponding conveying equipment according to the required time and maintenance time of each conveying equipment; judging whether it is necessary to decelerate one of the two conveying equipment according to the intersection time set of the two conveying equipment; if it is necessary to decelerate one of the two conveying equipment, determining the conveying equipment that needs to be decelerated and issuing a deceleration instruction to the conveying equipment; and controlling the corresponding conveying equipment to decelerate according to the deceleration instruction.

[0034] It can be seen from the above technical scheme that the present application has the following advantages: the multi-device logistics control method based on information interaction and flexible scheduling collects the conveying path information and equipment status information of each conveying equipment in the logistics area in real time, and calculates according to the conveying path information and equipment status information when different conveying equipment meet and need to avoid, determines which conveying equipment to avoid and issues a deceleration instruction to the conveying equipment, controls the conveying equipment to avoid according to the deceleration instruction, and realizes that in addition to the routine tasks of the conveying equipment, predictive avoidance tasks are issued in advance, thereby improving the traffic efficiency of the logistics area, and solving the technical problem that the task scheduling technology between flexible conveying equipment on the existing production line is passively triggered, resulting in low traffic efficiency of the conveying equipment on the production line.

[0035] The multi-device logistics control device based on information interaction and flexible scheduling can be used in production lines, logistics lines and other scheduling systems. When issuing scheduling tasks to conveying equipment or logistics equipment, it collects the global information of the equipment (including conveying path information and equipment status information) in real time, adds additional calculations of deceleration instructions for each avoidance task, and issues the deceleration instructions to the corresponding conveying equipment or logistics equipment, so as to avoid conflicts at intersections. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 A flowchart of the steps of the multi-equipment logistics control method based on information interaction and flexible scheduling described in an embodiment of the present application;

[0038] Figure 2 It is a schematic diagram of scheduling of two conveying equipment in the multi-equipment logistics control method based on information interaction and flexible scheduling described in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a framework of a multi-device logistics control device based on information interaction and flexible scheduling according to an embodiment of the present application;

[0040] Figure 4 A schematic diagram of a terminal device described in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0043] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0044] The embodiments of the present application provide a multi-device logistics control method, device and equipment based on information interaction and flexible scheduling, which solves the technical problem that the task scheduling technology between flexible conveying equipment on the existing production line is passively triggered, resulting in low traffic efficiency of conveying equipment on the production line. The multi-device logistics control method, device and equipment based on information interaction and flexible scheduling can not only be applied to the operation scheduling of multiple conveying equipment on the production line, but also can be applied to the operation scheduling of multiple sorting equipment in the express sorting line, and can also be applied to the scheduling of vehicles on traffic roads. In this embodiment, the operation scheduling of multiple conveying equipment on the production line is used as a case for illustration.

[0045] Embodiment 1:

[0046] Figure 1 This is a flowchart of the steps of the multi-equipment logistics control method based on information interaction and flexible scheduling described in an embodiment of the present application. Figure 2 This is a schematic diagram of the scheduling of two conveying equipment in the multi-equipment logistics control method based on information interaction and flexible scheduling described in an embodiment of the present application.

[0047] like Figure 1 and Figure 2 As shown, the embodiment of the present application provides a multi-equipment logistics control method based on information interaction and flexible scheduling, including the following steps:

[0048] S1. Acquire the conveying path information and device status information of each conveying device in the logistics area, and determine whether there are conflicting intersections between the conveying paths of two conveying devices according to the conveying path information.

[0049] It should be noted that in step S1, first, the conveying path information and equipment status information of each conveying device in the logistics area are obtained, and second, the conveying paths of the two conveying devices are determined based on the cross position coordinates of the conveying path information of each conveying device to determine whether there are conflicting intersections, so as to provide data for subsequent steps. In this embodiment, in step S1, the logistics area first establishes a coordinate system, and then obtains data. The conveying path information includes the conveying starting position coordinates, cross position coordinates, end position coordinates and priority of the conveying path, and the equipment status information includes the current position coordinates, speed, direction, maximum speed, minimum turning radius, acceleration, load, etc. Among them, it is determined whether there are conflicting intersections in the conveying paths of the two conveying devices according to whether the cross position coordinates of the conveying path information in the two conveying devices are the same. If there are the same cross position coordinates, there are conflicting intersections in the conveying paths of the two conveying devices; if there are no same cross position coordinates, there are no conflicting intersections in the conveying paths of the two conveying devices. The cross position coordinates include import coordinates and export coordinates.

[0050] S2. If there are conflicting intersections between the transport paths of the two transport devices, determine the time required for the corresponding transport device to reach the intersection and the time it takes to pass through the intersection based on the intersection position coordinates of the transport path information and the device status information of the corresponding transport device.

[0051] It should be noted that in step S2, according to step S1, the transport paths of the two transport devices are conflicting intersections, and the travel path between the transport device and the intersection is calculated according to the current position coordinates of the device status information and the import coordinates in the intersection position coordinates. Then, the required time for the transport device to reach the intersection is calculated according to the travel path and the speed of the transport device. The intersection distance passing through the conflicting intersection is known according to the import coordinates and the exit coordinates, and then the maintenance time of the corresponding transport device passing through the intersection is calculated according to the intersection distance and the speed of the transport device. In this embodiment, in step S2, based on the condition that the transport paths of the two transport devices are conflicting intersections, the required time for the two transport devices that have a cross encounter to reach the intersection and the maintenance time of passing through the intersection are calculated. For example: if the two transport devices that may have a cross encounter are respectively recorded as the first transport device and the second transport device, the required time for the first transport device to reach the intersection is recorded as x1, and the maintenance time for passing through the intersection is y1; the required time for the second transport device to reach the intersection is recorded as x2, and the maintenance time for passing through the intersection is y2.

[0052] S3. Determine the crossover time set of the corresponding conveyor device according to the required time and maintenance time of each conveyor device; and determine whether it is necessary to decelerate one of the two conveyor devices according to the crossover time sets of the two conveyor devices.

[0053] It should be noted that in step S3, the intersection time set of each conveying device is determined based on the required time and maintenance time of each conveying device obtained in step S2. For example, if the two conveying devices that may cross each other are respectively recorded as the first conveying device and the second conveying device, the required time for the first conveying device to reach the intersection is recorded as x1, and the maintenance time for passing through the intersection is y1; the required time for the second conveying device to reach the intersection is recorded as x2, and the maintenance time for passing through the intersection is y2; then the intersection time set of the first conveying device is (x1~(x1+y1)), and the intersection time set of the second conveying device is (x2~(x2+y2)). Afterwards, it is determined whether it is necessary to decelerate one of the two conveying devices based on the intersection time sets of the two conveying devices. The determination includes: if there is an intersection in the intersection time sets of the two conveying devices, it is necessary to decelerate one of the two conveying devices; if there is no intersection in the intersection time sets of the two conveying devices, it is not necessary to decelerate one of the two conveying devices. In this embodiment, the multi-equipment logistics control method based on information interaction and flexible scheduling determines whether two transport devices that may meet at the intersection meet at the intersection by the time required for two transport devices to reach the intersection and the time they maintain passing through the intersection, thereby providing a basis for avoiding conflicts at the intersection.

[0054] S4. If it is necessary to decelerate one of the two conveying devices, determine the conveying device that needs to be decelerated and issue a deceleration instruction to the conveying device; control the corresponding conveying device to decelerate according to the deceleration instruction.

[0055] It should be noted that in step S4, if one of the two conveying devices needs to be decelerated according to step S3, a deceleration instruction is issued to the conveying device that needs to be decelerated, and the corresponding conveying device is controlled to decelerate according to the deceleration instruction to avoid conflict at the intersection.

[0056] In an embodiment of the present application, the multi-device logistics control method based on information interaction and flexible scheduling obtains the equipment status information of the conveying equipment in real time through the conveying path information and the equipment status information, and calculates according to the conveying path information and the equipment status information that when different conveying equipment encounter and need to avoid each other, determines which conveying equipment to avoid and issues a deceleration instruction to the conveying equipment, controls the conveying equipment to avoid according to the deceleration instruction, and realizes that in addition to the routine tasks of the conveying equipment, predictive avoidance tasks (such as deceleration instructions) are issued in advance, thereby improving the traffic efficiency of the logistics area.

[0057] The present application provides a multi-equipment logistics control method based on information interaction and flexible scheduling, including obtaining the conveying path information and equipment status information of each conveying equipment in the logistics area, determining whether there are conflicting intersections in the conveying paths of the two conveying equipment according to the conveying path information; if there are conflicting intersections in the conveying paths of the two conveying equipment, determining the required time for the corresponding conveying equipment to reach the intersection and the maintenance time for passing through the intersection according to the intersection position coordinates of the conveying path information and the equipment status information of the corresponding conveying equipment; determining the intersection time set of the corresponding conveying equipment according to the required time and maintenance time of each conveying equipment; judging whether it is necessary to decelerate one of the two conveying equipment according to the intersection time set of the two conveying equipment; if it is necessary to decelerate one of the two conveying equipment, determining the conveying equipment that needs to be decelerated and issuing a deceleration instruction to the conveying equipment; and controlling the corresponding conveying equipment to decelerate according to the deceleration instruction. The multi-device logistics control method based on information interaction and flexible scheduling collects the conveying path information and equipment status information of each conveying equipment in the logistics area in real time, and calculates the different conveying equipment according to the conveying path information and equipment status information. When different conveying equipment meet and need to avoid, it determines which conveying equipment to avoid and issues a deceleration instruction to the conveying equipment, controls the conveying equipment to avoid according to the deceleration instruction, and realizes that in addition to the regular tasks of the conveying equipment, predictive avoidance tasks are issued in advance, thereby improving the traffic efficiency of the logistics area; it solves the technical problem that the task scheduling technology between flexible conveying equipment on the existing production line is passively triggered, resulting in low traffic efficiency of the conveying equipment on the production line.

[0058] In one embodiment of the present application, issuing a deceleration instruction to the conveying device includes:

[0059] By comparing the time required for each of the two conveying devices, the conveying device that needs to be slowed down is determined, and the intersection position coordinates of the intersection are obtained;

[0060] The deceleration time of the conveying device is calculated based on the required time of the conveying device and the required time and maintenance time of another conveying device, thereby obtaining the deceleration time of the conveying device;

[0061] A deceleration instruction is generated based on the deceleration time, the intersection position coordinates, and the current position coordinates and required time of the conveying equipment.

[0062] It should be noted that first, the conveying equipment that needs deceleration treatment is determined by comparing the required times of pairwise conveying equipment. Then, the deceleration time of the conveying equipment that needs deceleration treatment is calculated. Finally, a deceleration instruction is generated based on the deceleration time, the intersection position coordinates, the current position coordinates of the conveying equipment, and the required time. In this embodiment, if the pairwise conveying equipment that may cross and meet is respectively denoted as the first conveying equipment and the second conveying equipment, the required time for the first conveying equipment to reach the intersection is denoted as x1, and the maintaining time y1 for passing through the intersection; the required time for the second conveying equipment to reach the intersection is denoted as x2, and the maintaining time y2 for passing through the intersection; then when x1>x2, the conveying equipment that needs deceleration treatment is determined to be the first conveying equipment, and the deceleration time t of the first conveying equipment is calculated as t=(x2 + y2 - x1); when x1<x2, the conveying equipment that needs deceleration treatment is determined to be the second conveying equipment, and the deceleration time t of the second conveying equipment is calculated as t=(x1 + y1 - x2).

[0063] In an embodiment of the present application, controlling the corresponding conveying equipment to decelerate and operate according to the deceleration instruction includes:

[0064] Calculating according to the intersection position coordinates and the current position coordinates of the conveying equipment to obtain the deceleration distance;

[0065] Calculating according to the deceleration time, the required time of the conveying equipment, and the deceleration distance to obtain the deceleration speed;

[0066] Controlling the corresponding conveying equipment to decelerate and operate according to the deceleration speed.

[0067] It should be noted that the deceleration distance is calculated according to the inlet coordinates of the intersection position coordinates and the current position coordinates of the conveying equipment. First, the driving time is calculated by adding the deceleration time and the required time of the conveying equipment. The deceleration speed is obtained by dividing the deceleration distance by the driving time. Finally, the corresponding conveying equipment is controlled to decelerate and operate according to the deceleration speed, so as to realize the deceleration operation of the conveying equipment. In this embodiment, the multi-device logistics control method based on information interaction and flexible scheduling determines the deceleration speed of the deceleration operation through the deceleration instruction.

[0068] In an embodiment of the present application, the multi-device logistics control method based on information interaction and flexible scheduling includes: if it is not necessary to decelerate one of the pairwise conveying equipment, a maintaining operation instruction is issued to the corresponding pairwise conveying equipment; the conveying equipment is controlled to operate according to the maintaining operation instruction.

[0069] In an embodiment of the present application, the multi-device logistics control method based on information interaction and flexible scheduling is illustrated by the following case. Specifically: The first conveying equipment A arrives at intersection C after x1 is 50 seconds, and the maintenance time y1 is 10 seconds. The second conveying equipment B arrives at intersection C after x2 is 61 seconds, and the maintenance time y2 is 12 seconds. The intersection time set that the first conveying equipment A will occupy at intersection C is: [50~60]; the intersection time set that the second conveying equipment B will occupy at intersection C is: [61~73]. In this case, it can be calculated through the multi-device logistics control method based on information interaction and flexible scheduling that there is no conflict in the passing time between the two, and there is no need to issue a deceleration task to the first conveying equipment A and the second conveying equipment B. If the first conveying equipment A arrives at intersection C after x1 is 50 seconds, the maintenance time y1 is 10 seconds. The second conveying equipment B arrives at intersection C after x2 is 61 seconds, and the maintenance time y2 is 12 seconds. The intersection time set that the first conveyor A will occupy at intersection C is: [50~60]; the intersection time set that the second conveyor B will occupy at intersection C is: [61~73]. In this case, it can be calculated through the multi-equipment logistics control method based on information interaction and flexible scheduling that there is a time conflict between the two. Because the first conveyor A arrives before the second conveyor B, the deceleration time of the second conveyor B is calculated as: t=(50+10-55)=5, and a deceleration instruction of t seconds is required to be issued to the second conveyor B to decelerate and pass the target position (intersection C).

[0070] Embodiment 2:

[0071] Figure 3 This is a schematic diagram of the framework of a multi-device logistics control device based on information interaction and flexible scheduling as described in an embodiment of the present application.

[0072] like Figure 3 As shown, the embodiment of the present application provides a multi-equipment logistics control device based on information interaction and flexible scheduling, including an information acquisition module 10, a crossing time determination module 20, a deceleration judgment module 30 and a deceleration avoidance module 40;

[0073] The information acquisition module 10 is used to acquire the conveying path information and device status information of each conveying device in the logistics area, and determine whether there are conflicting intersections in the conveying paths of two conveying devices according to the conveying path information;

[0074] The intersection time determination module 20 is used to determine the time required for the corresponding conveying equipment to reach the intersection and the maintenance time of passing the intersection according to the intersection position coordinates of the conveying path information and the equipment status information of the corresponding conveying equipment according to the conflicting intersections of the conveying paths of the two conveying equipments;

[0075] The deceleration judgment module 30 is used to determine the crossover time set of the corresponding conveying equipment according to the required time and the maintenance time of each conveying equipment; and judge whether it is necessary to decelerate one of the two conveying equipments according to the crossover time sets of the two conveying equipments;

[0076] The deceleration avoidance module 40 is used to decelerate one of the two conveying devices as needed, determine the conveying device that needs to be decelerated and issue a deceleration instruction to the conveying device; and control the corresponding conveying device to decelerate according to the deceleration instruction.

[0077] It should be noted that the module content of the multi-device logistics control device based on information interaction and flexible scheduling corresponds to the content of the steps in the method of Example 1. Example 1 has already elaborated on the step content of the multi-device logistics control method based on information interaction and flexible scheduling. In this example, the module content of the multi-device logistics control device based on information interaction and flexible scheduling will not be repeated. The multi-device logistics control device based on information interaction and flexible scheduling can be used in production lines, logistics lines and other scheduling systems. When issuing scheduling tasks to conveying equipment or logistics equipment, it can collect the global information of the equipment in real time (including conveying path information and equipment status information), add additional calculations for the deceleration instructions of each avoidance task, and issue the deceleration instructions to the corresponding conveying equipment or logistics equipment, so as to avoid conflicts at intersections.

[0078] In the embodiment of the present application, the deceleration and avoidance module 40 includes: a device determination submodule, a calculation submodule and an instruction generation submodule;

[0079] The equipment determination submodule is used to compare the time required for each transport equipment, determine the transport equipment that needs to be decelerated, and obtain the intersection position coordinates of the intersection;

[0080] A calculation submodule, used for calculating the deceleration time of the conveying device according to the required time of the conveying device and the required time and maintenance time of another conveying device;

[0081] The instruction generation submodule is used to generate a deceleration instruction according to the deceleration time, the intersection position coordinates, and the current position coordinates and required time of the conveying equipment.

[0082] In an embodiment of the present application, the deceleration and avoidance module 40 is also used to calculate the deceleration distance based on the intersection position coordinates and the current position coordinates of the conveying equipment; calculate the deceleration speed based on the deceleration time, the required time of the conveying equipment and the deceleration distance; and control the corresponding conveying equipment to decelerate according to the deceleration speed.

[0083] In the embodiment of the present application, the deceleration judgment module 30 is also used to determine whether one of the two conveying devices needs to be decelerated if there is an intersection in the intersection time sets of the two conveying devices; or whether one of the two conveying devices does not need to be decelerated if there is no intersection in the intersection time sets of the two conveying devices.

[0084] Embodiment three:

[0085] Figure 4 A schematic diagram of a terminal device described in an embodiment of the present application.

[0086] like Figure 4 As shown, an embodiment of the present application provides a terminal device, including a processor and a memory;

[0087] A memory, used for storing program codes and transmitting the program codes to a processor;

[0088] A processor is used to execute the above-mentioned multi-equipment logistics control method based on information interaction and flexible scheduling according to the instructions in the program code.

[0089] It should be noted that the processor is used to execute the steps in the above-mentioned embodiment of a multi-equipment logistics control method based on information interaction and flexible scheduling according to the instructions in the program code. Alternatively, the processor implements the functions of each module / unit in the above-mentioned system / device embodiments when executing the computer program.

[0090] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in a memory and executed by a processor to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program in a terminal device.

[0091] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that this does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0092] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (dSIC), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0093] The memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Furthermore, the memory may include both an internal storage unit of the terminal device and an external storage device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.

[0094] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0096] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0098] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0099] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-equipment logistics control method based on information interaction and flexible scheduling, characterized in that: The following steps are involved: Acquire the conveying path information and device status information of each conveying device in the logistics area, and determine whether there are conflicting intersections between the conveying paths of the conveying devices according to the conveying path information; If there are conflicting intersections between the transport paths of the two transport devices, the time required for the corresponding transport device to reach the intersection and the time it takes to pass through the intersection are determined according to the intersection position coordinates of the transport path information and the device status information of the corresponding transport device; Determine the crossover time set corresponding to the conveying device according to the required time and the maintenance time of each conveying device; determine whether it is necessary to decelerate one of the conveying devices according to the crossover time sets of the two conveying devices; If it is necessary to decelerate one of the two conveying devices, the conveying device that needs to be decelerated is determined and a deceleration instruction is issued to the conveying device; and the corresponding conveying device is controlled to decelerate according to the deceleration instruction.

2. The multi-equipment logistics control method based on information interaction and flexible scheduling according to claim 1 is characterized in that: Issuing a deceleration instruction to the conveying equipment includes: Determine the conveying equipment that needs to be decelerated by comparing the required time of each of the conveying equipment, and obtain the intersection position coordinates of the intersection; The deceleration time of the conveying device is calculated according to the required time of the conveying device, the required time of another conveying device and the maintenance time; The deceleration instruction is generated according to the deceleration time, the intersection position coordinates, and the current position coordinates of the conveying device and the required time.

3. The multi-equipment logistics control method based on information interaction and flexible scheduling according to claim 2 is characterized in that: Controlling the corresponding conveying equipment to decelerate according to the deceleration instruction includes: Calculating the deceleration distance according to the intersection position coordinates and the current position coordinates of the conveying device; The deceleration speed is calculated according to the deceleration time, the time required for the conveying equipment and the deceleration distance; The conveying equipment is decelerated according to the deceleration speed control.

4. The multi-equipment logistics control method based on information interaction and flexible scheduling according to any one of claims 1 to 3, characterized in that: include: If there is no need to decelerate one of the two conveying devices, a maintenance operation instruction is issued to the corresponding two conveying devices; and the operation of the conveying devices is controlled according to the maintenance operation instruction.

5. The multi-equipment logistics control method based on information interaction and flexible scheduling according to any one of claims 1 to 3, characterized in that: Judging whether it is necessary to decelerate one of the two conveying devices according to the intersection time sets of the two conveying devices includes: if the intersection time sets of the two conveying devices have an intersection, it is necessary to decelerate one of the two conveying devices; if the intersection time sets of the two conveying devices do not have an intersection, it is not necessary to decelerate one of the two conveying devices.

6. A multi-equipment logistics control device based on information interaction and flexible scheduling, characterized in that: It includes an information acquisition module, a crossing time determination module, a deceleration judgment module and a deceleration avoidance module; The information acquisition module is used to acquire the conveying path information and equipment status information of each conveying equipment in the logistics area, and determine whether there are conflicting intersections between the conveying paths of the conveying equipment according to the conveying path information; The intersection time determination module is used to determine the time required for the corresponding conveying device to reach the intersection and the time to maintain the intersection according to the intersection position coordinates of the conveying path information and the device status information of the corresponding conveying device based on the existence of conflicting intersections in the conveying paths of the two conveying devices; The deceleration judgment module is used to determine the crossover time set corresponding to the conveying device according to the required time and the maintenance time of each conveying device; and judge whether it is necessary to decelerate one of the conveying devices in pairs according to the crossover time sets of the conveying devices in pairs; The deceleration and avoidance module is used to decelerate one of the two conveying devices as needed, determine the conveying device that needs to be decelerated and issue a deceleration instruction to the conveying device; and control the corresponding conveying device to decelerate according to the deceleration instruction.

7. The multi-equipment logistics control device based on information interaction and flexible scheduling according to claim 6 is characterized in that: The deceleration and avoidance module includes: a device determination submodule, a calculation submodule and an instruction generation submodule; The equipment determination submodule is used to determine the transportation equipment that needs to be decelerated based on the comparison of the required time of each of the transportation equipments, and to obtain the intersection position coordinates of the intersection; The calculation submodule is used to calculate the deceleration time of the conveying device according to the required time of the conveying device and the required time and the maintenance time of another conveying device; The instruction generation submodule is used to generate the deceleration instruction according to the deceleration time, the intersection position coordinates, the current position coordinates of the conveying device and the required time.

8. The multi-equipment logistics control device based on information interaction and flexible scheduling according to claim 7 is characterized in that: The deceleration and avoidance module is also used to calculate the deceleration distance according to the intersection position coordinates and the current position coordinates of the conveying equipment; calculate the deceleration speed according to the deceleration time, the required time of the conveying equipment and the deceleration distance; and control the corresponding conveying equipment to decelerate according to the deceleration speed.

9. The multi-equipment logistics control device based on information interaction and flexible scheduling according to claim 6 is characterized in that: The deceleration judgment module is also used to determine whether one of the two conveying devices needs to be decelerated if there is an intersection between the intersection time sets of the two conveying devices; or whether one of the two conveying devices does not need to be decelerated if there is no intersection between the intersection time sets of the two conveying devices.

10. A terminal device, characterized in that: including a processor and a memory; The memory is used to store program codes and transmit the program codes to the processor; The processor is used to execute the multi-equipment logistics control method based on information interaction and flexible scheduling as described in any one of claims 1 to 5 according to the instructions in the program code.

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