Scheduling method and device for shuttle vehicles in workbin warehouse, storage medium and electronic equipment

Abstract

The invention provides a workbin warehouse shuttle vehicle scheduling method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining the global parameters of a workbin warehouse, constructing a workbin warehouse simulation model, simulating a real material warehouse-out scene, determining the position of a target to-be-warehouse-out cargo through the operation of the workbin warehouse simulation model, and carrying out the scheduling of the target to-be-warehouse-out cargo. And according to the position of the target to-be-delivered cargo, an optimal delivery strategy is simulated and verified, and the optimal delivery strategy comprises the steps that a target shuttle vehicle is selected from the multiple shuttle vehicles, the driving path of the target shuttle vehicle is planned, and the target shuttle vehicle is controlled to conduct delivery scheduling on the target to-be-delivered cargo. According to the method, the workbin library simulation model is constructed and operated, and the optimal delivery strategy is simulated and verified according to the position of the target to-be-delivered cargo, so that optimization of the scheduling efficiency of the workbin library shuttle vehicle is realized.

Description

Technical Field

[0001] The present application relates to the field of logistics scheduling, and in particular, to a scheduling method, a scheduling device, a computer-readable storage medium, and an electronic device for a material bin storage shuttle vehicle. Background Art

[0002] At present, the scheduling method of shuttle vehicles in material box warehouses often relies on manual scheduling, which is difficult to adapt to the complex and changeable storage environment and dynamically changing outbound demand, and the scheduling efficiency of shuttle vehicles in material box warehouses is low. Summary of the invention

[0003] The main purpose of the present application is to provide a scheduling method, a scheduling device, a computer-readable storage medium and an electronic device for a container storage shuttle vehicle, so as to at least solve the problem of low scheduling efficiency of container storage shuttle vehicles in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a scheduling method for shuttle vehicles in a bin warehouse is provided, comprising: obtaining global parameters of the bin warehouse, and constructing a bin warehouse simulation model based on the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles; running the bin warehouse simulation model to determine the position of target goods to be shipped out, wherein the target goods to be shipped out are the goods to be shipped out that need to be shipped out first according to the beat; and according to the bin warehouse simulation model, The model and the position of the target goods to be shipped out are used to simulate and verify the shipping of the target goods to be shipped out, and determine the optimal shipping strategy. The optimal shipping strategy at least includes a target shuttle and a driving path of the target shuttle. The target shuttle is the shuttle that transports the target goods to be shipped out. The optimal shipping strategy aims to minimize the weighted sum of the driving distance of the target shuttle on the shelf layer and the driving distance on the shelf column. According to the optimal shipping strategy, the target shuttle is controlled to perform shipping scheduling for the target goods to be shipped out.

[0005] Optionally, running the bin warehouse simulation model to determine the location of the target goods to be shipped out includes: running the bin warehouse simulation model so that the bin warehouse simulation model generates an outbound list according to the rhythm, and the outbound list records the outbound priority order of all the goods to be shipped out; determining that the goods to be shipped that are ranked first in the outbound list are the target goods to be shipped out.

[0006] Optionally, the global parameters also include the running state of the shuttle vehicle, and the running state includes an idle state and a busy state. According to the bin warehouse simulation model and the position of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, including: according to the bin warehouse simulation model, determining that the shuttle vehicle with the idle running state among multiple shuttle vehicles is an available shuttle vehicle; when there are multiple available shuttle vehicles, according to the current position of each available shuttle vehicle and the position of the target goods to be shipped out, simulating the shelf layer difference and the first shelf column difference of each available shuttle vehicle, wherein the shelf layer difference is the difference between the shelf layer sequence number of the available shuttle vehicle and the shelf column number of the target goods to be shipped out. The first shelf column difference is the absolute value of the difference between the shelf column number where the available shuttle vehicle is located and the shelf column number where the target goods to be shipped out are located; according to the shelf layer difference and the first shelf column difference, the weighted sum of the driving distance of each available shuttle vehicle is determined to be the product of the shelf layer difference and a first coefficient plus the product of the first shelf column difference and a second coefficient, and the first coefficient is greater than the second coefficient; according to the weighted sum of driving distances, the available shuttle vehicle corresponding to the smallest weighted sum of driving distances is determined to be the target shuttle vehicle, and the path from the current position of the target shuttle vehicle through the position of the target goods to be shipped out to the designated location for shipping out is determined to be the driving path.

[0007] Optionally, the global parameters also include the current position of an available shuttle elevator and the operating state of the shuttle elevator, the shuttle elevator is used to drive the target shuttle to change the shelf layer, and after determining the optimal shipping strategy, the method further includes: determining that the shuttle elevator whose operating state is the idle state among the multiple shuttle elevators is an available shuttle elevator; in the case where there are multiple available shuttle elevators, simulating the material box warehouse simulation model according to the current position of each of the available shuttle elevators and the current position of the target shuttle, to obtain the second shelf column difference of each available shuttle elevator, the second shelf column difference being the absolute value of the difference between the shelf column serial number of the available shuttle elevator and the shelf column serial number of the target shuttle; determining the available shuttle elevator corresponding to the smallest second shelf column difference as the target shuttle elevator, and controlling the target shuttle elevator to perform the layer changing operation of the target shuttle.

[0008] Optionally, before determining, according to the material bin warehouse simulation model, that the shuttle vehicle whose operating status is the idle state among the multiple shuttle vehicles is an available shuttle vehicle, the method further includes: running the material bin warehouse simulation model so that the material bin warehouse simulation model generates an available shuttle vehicle list according to the operating status of the multiple shuttle vehicles, and generates an available shuttle vehicle elevator list according to the operating status of the multiple shuttle vehicle elevators; in the case of determining that the available shuttle vehicle has a fault, removing the faulty available shuttle vehicle from the available shuttle vehicle list, and in the case of determining that the available shuttle vehicle has been acquired, In the event of a failure of an available shuttle elevator, the failed available shuttle elevator is removed from the list of available shuttle elevators; after determining, based on the weighted sum of the driving distances, that the available shuttle elevator corresponding to the smallest weighted sum of the driving distances is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators; after determining that the available shuttle elevator corresponding to the smallest second shelf column difference is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators.

[0009] Optionally, when a fault is detected in the available shuttle car or the available shuttle car elevator, the method further includes: obtaining fault information of the faulty available shuttle car or the available shuttle car elevator, the fault information including fault type, fault time, and fault location; and sending the fault information to a mobile device of a maintenance personnel.

[0010] Optionally, after controlling the target shuttle vehicle to perform outbound dispatch of the target goods to be dispatched according to the optimal dispatching strategy, the method further includes: obtaining the power level of the target shuttle vehicle that has completed the outbound dispatching dispatch; when the power level is lower than a preset threshold power level, controlling the target shuttle vehicle to go to a charging station; and when the power level is not lower than the preset threshold power level, controlling the target shuttle vehicle to return to the location of the target goods to be dispatched.

[0011] According to another aspect of the present application, a scheduling device for shuttle vehicles in a bin warehouse is provided, comprising: a first acquisition unit, used to acquire global parameters of the bin warehouse, and to construct a bin warehouse simulation model according to the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles; a first determination unit, used to run the bin warehouse simulation model to determine the position of target goods to be shipped out, wherein the target goods to be shipped out are the goods to be shipped out that need to be shipped out first according to the beat; a second determination unit, used to determine the position of the target goods to be shipped out according to the bin warehouse simulation model The container warehouse simulation model and the position of the target goods to be shipped out are used to simulate and verify the shipping of the target goods to be shipped out, and determine the optimal shipping strategy, wherein the optimal shipping strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be shipped out, and the optimal shipping strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column; a first control unit is used to control the target shuttle vehicle to perform shipping scheduling for the target goods to be shipped out according to the optimal shipping strategy.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the described methods.

[0014] By applying the technical solution of the present application, the global parameters of the bin warehouse are first obtained to construct a bin warehouse simulation model to simulate the real material outbound scene. Then, by running the bin warehouse simulation model, the location of the target goods to be outbound is determined. Then, according to the location of the target goods to be outbound, the optimal shipping strategy is simulated and verified. The optimal shipping strategy includes selecting a target shuttle from multiple shuttles and planning the driving path of the target shuttle. Finally, the target shuttle is controlled to dispatch the target goods to be outbound. The present application optimizes the dispatching efficiency of the bin warehouse shuttle by constructing and running a bin warehouse simulation model and simulating and verifying the optimal shipping strategy according to the location of the target goods to be outbound. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a scheduling method for a material box library shuttle vehicle provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a method for dispatching a shuttle vehicle in a material bin storage provided according to an embodiment of the present application is shown;

[0018] Figure 3 A side view of a container library model provided according to an embodiment of the present application is shown;

[0019] Figure 4 A top view of a material bin library model provided according to an embodiment of the present application is shown;

[0020] Figure 5 A structural block diagram of a dispatching device for a material bin shuttle vehicle provided according to an embodiment of the present application is shown.

[0021] The above drawings include the following reference numerals:

[0022] 102. Processor; 104. Memory; 106. Transmission device; 108. Input and output device; 11. Shelf model; 12. Shuttle model; 13. Shuttle elevator model; 14. Track. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] As introduced in the background technology, the scheduling efficiency of the shuttle vehicle for the container warehouse in the prior art is low. In order to solve the above technical problems, the embodiments of the present application provide a scheduling method, a scheduling device, a computer-readable storage medium and an electronic device for the shuttle vehicle for the container warehouse.

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for a method for dispatching a shuttle vehicle in a material storage bin according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the scheduling method of the material box library shuttle in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the method described is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] In this embodiment, a scheduling method for a shuttle vehicle in a material bin storage is provided that runs on a mobile terminal, a computer terminal or a similar computing device. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 2 1 is a flow chart of a method for dispatching a shuttle vehicle in a container storage according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0032] Step S201, obtaining global parameters of the container warehouse, and constructing a container warehouse simulation model according to the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles;

[0033] Specifically, the material bin warehouse simulation model includes a shelf model and a shuttle model. Each shelf layer includes a plurality of shelf columns.

[0034] Step S202, running the bin warehouse simulation model to determine the location of the target goods to be shipped out, the target goods to be shipped out are the goods to be shipped out first according to the beat requirement;

[0035] Specifically, when goods enter the warehouse, the location information of the shelf where the goods are located is recorded and called when they are ready to be shipped out. The beat refers to the time interval for each shelf layer to output goods.

[0036] Step S203, based on the simulation model of the bin warehouse and the location of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, wherein the optimal shipping strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, wherein the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be shipped out, and the optimal shipping strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column;

[0037] Specifically, the driving path includes the path of the target shuttle vehicle from its position to the position of the target goods to be shipped. The driving path may also include the path of the target shuttle vehicle transporting the target goods to be shipped from the position of the target goods to be shipped to the shipping position.

[0038] Step S204: According to the optimal shipping strategy, the target shuttle vehicle is controlled to perform shipping scheduling for the target goods to be shipped out.

[0039] Through the embodiment, the global parameters of the bin warehouse are first obtained to build a bin warehouse simulation model to simulate the real material outbound scene, and then the location of the target goods to be outbound is determined by running the bin warehouse simulation model. Then, according to the location of the target goods to be outbound, the optimal shipping strategy is simulated and verified. The optimal shipping strategy includes selecting a target shuttle from multiple shuttles and planning the driving path of the target shuttle. Finally, the target shuttle is controlled to dispatch the target goods to be outbound. This application optimizes the dispatching efficiency of the bin warehouse shuttle by building and running a bin warehouse simulation model and simulating and verifying the optimal shipping strategy according to the location of the target goods to be outbound.

[0040] Specifically, the global parameters can be adjusted according to actual needs. For example, the global parameters can also include the height and width of the cargo compartment, the number of shuttles, etc.

[0041] In an optional solution, running the bin warehouse simulation model to determine the location of the target goods to be shipped out includes:

[0042] Step S2021, running the bin warehouse simulation model, so that the bin warehouse simulation model generates a dispatch list according to the beat, and the dispatch list records the dispatch priority order of all the goods to be dispatched;

[0043] Specifically, the outbound list also records the location information of each of the goods to be outbound.

[0044] Step S2022: determine that the cargo to be shipped that is at the first position in the shipping list is the target cargo to be shipped.

[0045] Specifically, the goods to be shipped that are at the first place in the shipping list are the goods that are first exported according to the rhythm.

[0046] In the embodiment, by running the simulation model of the material box warehouse, a delivery list is generated. The delivery list records the delivery priority of the goods to be delivered according to the beat of each shelf layer outputting the goods to be delivered, and then the goods to be delivered with the highest priority are selected for delivery according to the delivery list, ensuring that the goods to be delivered can be delivered according to the output order of the shelf layer, avoiding confusion in the delivery process. In addition, by determining that the goods to be delivered that are at the first position in the delivery list are the target goods to be delivered, resources can be arranged first to process the goods to be delivered that have been delivered, reducing waiting time and further improving the scheduling efficiency of the shuttle vehicle of the material box warehouse.

[0047] In another optional solution, the global parameter also includes the running state of the shuttle, and the running state includes an idle state and a busy state. According to the bin warehouse simulation model and the location of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, including:

[0048] Step S2031, according to the material box warehouse simulation model, determining that the shuttle vehicle whose operating state is the idle state among the plurality of shuttle vehicles is an available shuttle vehicle;

[0049] Step S2032, when there are multiple available shuttles, according to the current position of each available shuttle and the position of the target goods to be shipped out, simulate and obtain the shelf layer difference and the first shelf column difference of each available shuttle, the shelf layer difference is the absolute value of the difference between the shelf layer number of the available shuttle and the shelf layer number of the target goods to be shipped out, and the first shelf column difference is the absolute value of the difference between the shelf column number of the available shuttle and the shelf column number of the target goods to be shipped out;

[0050] Specifically, the current position of the available shuttle includes the shelf layer number and shelf column number where the available shuttle is currently located, and the position of the target goods to be shipped includes the shelf layer number and shelf column number where the target goods to be shipped are located.

[0051] Step S2033, according to the shelf level difference and the first shelf column difference, determining that the weighted sum of the travel distance of each available shuttle vehicle is the product of the shelf level difference and a first coefficient plus the product of the first shelf column difference and a second coefficient, wherein the first coefficient is greater than the second coefficient;

[0052] Step S2034, based on the weighted sum of the driving distances, determining the available shuttle vehicle corresponding to the minimum weighted sum of the driving distances as the target shuttle vehicle, and determining the path from the current position of the target shuttle vehicle through the position of the target goods to be shipped out to the designated shipping location as the driving path.

[0053] In the described embodiment, since the time cost of the shuttle vehicle changing shelf layers is higher than the time cost of changing shelf columns, the weight of the shelf layer difference is set to be greater than the weight of the first shelf column difference, so that the available shuttle vehicle with the smaller absolute value of the difference with the shelf layer of the goods is preferentially selected as the target shuttle vehicle to carry out the delivery of goods, and the operating status of the shuttle vehicle is comprehensively considered, and the optimal delivery strategy is formulated through simulation verification, including selecting the most suitable shuttle vehicle and planning the shortest driving path, thereby further improving the scheduling efficiency of the shuttle vehicle in the material box warehouse.

[0054] Specifically, the idle state indicates that the shuttle is available, and the busy state indicates that the shuttle is unavailable. In the case where there is only one available shuttle, the available shuttle is determined as the target shuttle.

[0055] It should be noted that, when there are multiple available shuttle vehicles with the same weighted sum of driving distances, the available shuttle vehicle with a small difference in shelf level with the target goods to be shipped out is preferentially selected as the target shuttle vehicle. For example, three available shuttle vehicles with the smallest and equal weighted sum of driving distances are respectively on the first shelf level, the second shelf level and the fifth shelf level, and the target goods to be shipped out are located on the fifth shelf level. In this case, the available shuttle vehicle on the same shelf level as the target goods to be shipped out is preferentially selected as the target shuttle vehicle, that is, the available shuttle vehicle located on the fifth shelf level is selected.

[0056] In some other exemplary embodiments, the global parameters also include the current position of the available shuttle elevator and the operating state of the shuttle elevator, the shuttle elevator is used to drive the target shuttle to replace the shelf layer, and the bin warehouse simulation model also includes a shuttle elevator model. Then, the bin warehouse simulation model constructed according to the global parameters also includes multiple shuttle elevator models. After determining the optimal shipping strategy, the method further includes:

[0057] Step S205, determining that the shuttle elevator whose operating state is the idle state among the plurality of shuttle elevators is an available shuttle elevator;

[0058] Step S206, when there are multiple available shuttle elevators, according to the current position of each available shuttle elevator and the current position of the target shuttle, the second shelf column difference of each available shuttle elevator is obtained by simulation, and the second shelf column difference of the available shuttle elevator is the absolute value of the difference between the shelf column number of the available shuttle elevator and the shelf column number of the target shuttle;

[0059] Specifically, the current position of the available shuttle elevator includes the serial number of the shelf column where the available shuttle elevator is currently located.

[0060] Step S207, determining the available shuttle elevator corresponding to the smallest absolute value as the target shuttle elevator, and controlling the target shuttle elevator to perform a layer-changing operation of the target shuttle.

[0061] In the described embodiment, by determining the shuttle elevator whose operating state is idle and selecting the shuttle elevator with the smallest second shelf column difference between each available shuttle elevator and the target shuttle car through calculation to perform the layer changing operation of the target shuttle car, the moving distance and time of the shuttle elevator are reduced, and the overall operational efficiency of the shuttle car out of the warehouse is improved.

[0062] Specifically, when there is only one available shuttle elevator, the available shuttle elevator is determined as the target shuttle elevator.

[0063] Exemplarily, when constructing a bin warehouse simulation model, first create a shelf layer conveyor in the class library so as to uniformly adjust the parameters. During the creation process, first determine whether the shelf layer conveyor has been created. If the shelf layer conveyor has been created, calibrate the position of the shelf layer conveyor; if the shelf layer conveyor has not been created, create the shelf layer conveyor according to the position of the shelf and the shelf structure; optionally, create a shuttle elevator in the class library. During the creation process, first determine whether the shuttle elevator has been created. If the shuttle elevator has been created, calibrate the position of the shuttle elevator; if the shuttle elevator has not been created, create the shuttle elevator according to the position and structure of the shelf; optionally, create a shuttle in the class library. Before running the bin warehouse simulation model, an initialization program can be set to be triggered at the beginning of the simulation. The initialization program includes an "initialize shelf" program, an "initialize shelf layer conveyor line" program, an "initialize shuttle" program, and an "outbound list initialization" program.

[0064] In another optional solution, before determining, according to the material bin warehouse simulation model, that the shuttle vehicle whose operating status is the idle state among the plurality of shuttle vehicles is an available shuttle vehicle, the method further includes: running the material bin warehouse simulation model so that the material bin warehouse simulation model generates a list of available shuttle vehicles according to the operating status of the plurality of shuttle vehicles, and generates a list of available shuttle elevators according to the operating status of the plurality of shuttle elevators; in the case of determining that the available shuttle vehicle has a fault, removing the faulty available shuttle vehicle from the list of available shuttle vehicles, and in the case of determining that the available shuttle vehicle has a fault, obtaining the available shuttle vehicle. In the event that the available shuttle elevator fails, the failed available shuttle elevator is removed from the list of available shuttle elevators; after determining that the available shuttle elevator corresponding to the smallest weighted sum of driving distances is the target shuttle elevator based on the weighted sum of driving distances, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators; after determining that the available shuttle elevator corresponding to the smallest second shelf column difference is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators.

[0065] In the described embodiment, when a shuttle or shuttle elevator failure is detected, the faulty equipment is immediately removed from the available list, ensuring that the optimal shipping strategy is evaluated and determined based on the available shuttle resources and shuttle elevator resources, further ensuring the effectiveness and efficiency of the shipping strategy and reducing the impact of equipment failure on the overall logistics operation.

[0066] In another optional scheme, when a fault is detected in the available shuttle car or the available shuttle car elevator, the method further includes: obtaining fault information of the faulty available shuttle car or the available shuttle car elevator, the fault information including the fault type, fault time, and fault location; and sending the fault information to a mobile device of a maintenance personnel.

[0067] Specifically, the fault information of the shuttle vehicle can be updated to the running status, so that its running status is displayed as "fault".

[0068] In the described embodiment, by acquiring and instantly sending detailed fault information (including fault type, fault time, and fault location) of a faulty shuttle car or shuttle car elevator, it is possible to ensure that maintenance personnel can quickly and accurately understand the fault situation, and provide key information support for rapid maintenance response, thereby shortening the maintenance response time, minimizing the downtime of the logistics system caused by the failure of the shuttle car or shuttle car elevator, and ensuring the continuity and stability of logistics operations.

[0069] In some other exemplary schemes of the present application, after the target shuttle vehicle is scheduled to be dispatched out of the warehouse, the method further includes: obtaining the power level of the target shuttle vehicle that has completed the dispatching schedule; when the power level is lower than a preset threshold power level, controlling the target shuttle vehicle to go to a charging station; when the power level is not lower than the preset threshold power level, controlling the target shuttle vehicle to return to the location of the target goods to be dispatched out of the warehouse.

[0070] In the embodiment, the power information of the target shuttle vehicle after the outbound dispatch is obtained to determine the power status of the shuttle vehicle. When the power is lower than the preset threshold power, the shuttle vehicle is promptly controlled to go to the charging station, which effectively avoids the interruption of logistics operations due to power exhaustion and ensures the continuity and stability of the logistics system. At the same time, it also avoids the problem of shortened battery life due to frequent deep discharge of the shuttle vehicle, which helps to extend the overall service life of the shuttle vehicle and reduce operating costs.

[0071] Exemplarily, when constructing a bin warehouse simulation model, a global parameter "start outbound time" is set, and steps S202, S203, S204, S205, S206, and S207 are executed after the "start outbound time" is reached.

[0072] In this application, Plant Simulation software is used to construct the material bin library simulation model. The constructed material bin library model is as follows: Figure 3 and Figure 4 As shown. Figure 3 and Figure 4As shown, the material box warehouse model specifically includes: a shelf model 11; a plurality of shuttle models 12; and a plurality of shuttle elevator models 13. In addition, the material box warehouse model also includes a track 14 for the shuttle model 12 to travel to the delivery position.

[0073] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the scheduling method for the shuttle vehicle in the material storage of the present application will be described in detail below in combination with specific embodiments.

[0074] This embodiment relates to a specific method for dispatching a shuttle vehicle in a material bin warehouse, comprising the following steps:

[0075] Step S1: Establish global parameters, including the number of shelf layers, the number of shelf columns, and the height and width of the shelves. Create a shelf table and set the initialization procedure.

[0076] Specifically, the shelf table is used to record the change of shelf storage location. The initialization program is triggered at the beginning of the simulation. The initialization program includes the "initialize shelf" program, the "initialize shelf layer conveyor line" program, the "initialize elevator" program, the "initialize shuttle" program, the "initialize conveyor line of each floor" program, the "shelf table initialization" program and finally calling the "outbound program";

[0077] Step S2: Setting the "Initialize Shelf" program, which includes creating a shelf;

[0078] Specifically, the shelf is set according to the global parameters established in step S1.

[0079] Step S3: Set up the "Initialize Shelf Layer Conveyor Line" program, which includes creating a shelf layer conveyor in the class library.

[0080] Specifically, when creating a shelf conveyor, first determine whether the shelf conveyor has been created. If it already exists, calibrate the position; if it does not exist, create the shelf conveyor according to the position of the shelf and the number of shelf layers of the global parameter. Automatically rename the shelf conveyor according to the set rules.

[0081] Step S5: Setting the "initialize elevator" program, the "initialize elevator" program includes creating a shuttle elevator in the class library;

[0082] Specifically, in the process of creating a shuttle elevator, first determine whether the shuttle elevator has been created. If it already exists, calibrate the position; if it does not exist, create the shuttle elevator according to the position of the shelf. Automatically rename the shuttle elevator according to the set rules.

[0083] Step S6: Setting the "initialize the conveyor line of each floor" program, the "initialize the conveyor line of each floor" program includes creating a floor conveyor in the class library;

[0084] Specifically, in the process of creating a floor conveyor, first determine whether the floor conveyor has been created. If it already exists, calibrate the position; if it does not exist, create the floor conveyor according to the floor position and floor parameters. Automatically rename the floor conveyor according to the set rules.

[0085] Step S7: Set up the "Initialize Shuttle" program. The "Initialize Shuttle" program includes creating a list called Idle Shuttle Queue and clearing the content. Create a shuttle in the class library. Create a global variable "AGV (Automated Guided Vehicle) Number" and an AGV pool, and create a shuttle in the AGV pool according to the "AGV Number";

[0086] Step S9: Set the global variable "start delivery time";

[0087] Step S10: Call the "Push-in and Outbound List" program. Set the global variable "The beat of outputting goods on each floor";

[0088] Specifically, the rhythm of outputting goods on each floor, for example, a product is output on the left side of the first floor at regular intervals. The program will push the goods on the shelf into an "outbound list" in a loop according to the rhythm of outputting goods on each floor for executing the outbound delivery of goods.

[0089] Step S11: Set up a loop program. Execute the "select appropriate shuttle" program, first obtain the currently available shuttles, and then calculate the weighted sum of the travel distance of the currently available shuttles on the shelf layer and the travel distance on the shelf column for judgment;

[0090] Specifically, the loop procedure includes waiting until there is content in the "outbound list" and executing the following procedure, the absolute value of the difference between the number of columns of the shelf where the shuttle is located and the number of columns where the goods to be outbound are located; the absolute value of the difference between the number of layers of the shelf where the shuttle is located and the number of layers where the goods to be outbound are located. Since the time cost required for the shuttle to change layers is higher, the sum of the two absolute values ​​needs to be weighted and added, and the weight of the number of layers is greater, that is, the shuttle on the same layer is given priority. Finally, by comparing and selecting the result with the smallest value, the shuttle closest to the goods is selected.

[0091] Step S12: Determine the shuttle vehicle closest to the goods to transport the goods to the location corresponding to the goods to be shipped out, and then transport the goods to the location of the shipping conveyor line;

[0092] Specifically, the shuttle car also has a strategy program for selecting the nearest layer-changing elevator for layer-changing. By determining the difference between the serial number of the shelf column where the shuttle car is located and the serial number of the shelf column where the shuttle car elevator is located, the shuttle car closest to the shuttle car elevator is obtained.

[0093] Step S13: call the outbound elevator to transport the goods to the corresponding floor conveyor line.

[0094] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0095] The embodiment of the present application also provides a scheduling device for a shuttle car in a bin warehouse. It should be noted that the scheduling device for a shuttle car in a bin warehouse in the embodiment of the present application can be used to execute the scheduling method for a shuttle car in a bin warehouse provided in the embodiment of the present application. The device is used to implement the embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0096] The following is an introduction to the dispatching device for the material box storage shuttle provided in the embodiment of the present application.

[0097] Figure 5 Schematic diagram of a dispatching device for a container storage shuttle vehicle according to an embodiment of the present application. Figure 5 As shown, the device comprises:

[0098] A first acquisition unit 10 is used to acquire global parameters of the container warehouse and construct a container warehouse simulation model according to the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting the goods to be shipped out, and the current positions of multiple shuttle vehicles;

[0099] Specifically, the material bin warehouse simulation model includes a shelf model and a shuttle model. Each shelf layer includes a plurality of shelf columns.

[0100] A first determination unit 20 is used to run the bin warehouse simulation model to determine the location of target goods to be shipped out, where the target goods to be shipped out are the goods to be shipped out first according to the beat requirement;

[0101] Specifically, when goods enter the warehouse, the location information of the shelf where the goods are located is recorded and called when the goods are to be shipped out. The beat refers to the time interval for each shelf layer to output goods.

[0102] The second determination unit 30 is used to perform simulation verification on the outbound delivery of the target goods to be outbound according to the simulation model of the bin warehouse and the location of the target goods to be outbound, and determine the optimal delivery strategy, wherein the optimal delivery strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, wherein the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be outbound, and the optimal delivery strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column;

[0103] Specifically, the driving path includes the path of the target shuttle vehicle from its position to the position of the target goods to be shipped. The driving path may also include the path of the target shuttle vehicle transporting the target goods to be shipped from the position of the target goods to be shipped to the shipping position.

[0104] The first control unit 40 is used to control the target shuttle vehicle to perform outbound dispatching of the target goods to be outbound according to the optimal outbound dispatching strategy.

[0105] Through the described embodiment, the global parameters of the bin warehouse are acquired through the first acquisition unit to construct a bin warehouse simulation model to simulate the real material outbound scene, the bin warehouse simulation model is run through the first determination unit to determine the location of the target goods to be outbound, and the second determination unit simulates and verifies the optimal shipping strategy based on the location of the target goods to be outbound. The optimal shipping strategy includes selecting a target shuttle from multiple shuttles and planning the driving path of the target shuttle, and the first control unit controls the target shuttle to schedule the outbound delivery of the target goods to be outbound. This application optimizes the scheduling efficiency of the bin warehouse shuttle by constructing and running the bin warehouse simulation model, simulating and verifying the optimal shipping strategy based on the location of the target goods to be outbound.

[0106] Specifically, the global parameters can be adjusted according to actual needs. For example, the global parameters can also include the height and width of the cargo compartment, the number of shuttles, etc.

[0107] In an optional solution, the first determining unit includes:

[0108] An operation module is used to operate the bin warehouse simulation model so that the bin warehouse simulation model generates a dispatch list according to the beat, and the dispatch list records the dispatch priority order of all the goods to be dispatched;

[0109] Specifically, the outbound list records the location information of the goods to be outbound.

[0110] The first determining module is used to determine that the goods to be shipped that are at the first position in the shipping list are the target goods to be shipped.

[0111] Specifically, the goods to be shipped that are at the first place in the shipping list are the goods that are first exported according to the rhythm.

[0112] In the embodiment, by running the simulation model of the material box warehouse, a delivery list is generated. The delivery list records the delivery priority of the goods to be delivered according to the beat of each shelf layer outputting the goods to be delivered, and then the goods to be delivered with the highest priority are selected for delivery according to the delivery list, ensuring that the goods to be delivered can be delivered according to the output order of the shelf layer, avoiding confusion in the delivery process. In addition, by determining that the goods to be delivered that are at the first position in the delivery list are the target goods to be delivered, resources can be arranged first to process the goods to be delivered that have been delivered, reducing waiting time and further improving the scheduling efficiency of the shuttle vehicle of the material box warehouse.

[0113] In another optional solution, the global parameter further includes the running state of the shuttle, the running state includes an idle state and a busy state, and the second determining unit includes:

[0114] A second determination module is used to determine, according to the material box warehouse simulation model, that the shuttle vehicle whose running state is the idle state among the plurality of shuttle vehicles is an available shuttle vehicle;

[0115] A simulation module, for simulating, when there are multiple available shuttle vehicles, the shelf layer difference and the first shelf column difference of each available shuttle vehicle according to the current position of each available shuttle vehicle and the position of the target goods to be shipped out, wherein the shelf layer difference is the absolute value of the difference between the shelf layer number of the available shuttle vehicle and the shelf layer number of the target goods to be shipped out, and the first shelf column difference is the absolute value of the difference between the shelf column number of the available shuttle vehicle and the shelf column number of the target goods to be shipped out;

[0116] Specifically, the current position of the available shuttle includes the shelf layer number and shelf column number where the available shuttle is currently located, and the position of the target goods to be shipped includes the shelf layer number and shelf column number where the target goods to be shipped are located.

[0117] a third determination module, configured to determine, based on the shelf layer difference and the first shelf column difference, that the weighted sum of the travel distances of each of the available shuttle vehicles is the product of the shelf layer difference and a first coefficient plus the product of the first shelf column difference and a second coefficient, wherein the first coefficient is greater than the second coefficient;

[0118] The fourth determination module is used to determine, based on the weighted sum of the driving distances, the available shuttle vehicle corresponding to the minimum weighted sum of the driving distances as the target shuttle vehicle, and to determine the path from the current position of the target shuttle vehicle through the position of the target goods to be shipped out to the designated location for shipping out as the driving path.

[0119] In the described embodiment, since the time cost of the shuttle vehicle changing shelf layers is higher than the time cost of changing shelf columns, the weight of the shelf layer difference is set to be greater than the weight of the first shelf column difference, so that the available shuttle vehicle with a smaller absolute value of difference with the shelf layer of the goods is preferentially selected as the target shuttle vehicle to carry out the delivery of goods, and the operating status of the shuttle vehicle is comprehensively considered, and the optimal delivery strategy is formulated through simulation verification, including selecting the most suitable shuttle vehicle and planning the shortest driving path, thereby further improving the scheduling efficiency of the shuttle vehicle in the material box warehouse.

[0120] Specifically, the idle state indicates that the shuttle is available, and the busy state indicates that the shuttle is unavailable. In the case where there is only one available shuttle, the available shuttle is determined as the target shuttle.

[0121] It should be noted that, when there are multiple available shuttle vehicles with the same weighted sum of driving distances, the available shuttle vehicle with a small difference in shelf level with the target goods to be shipped out is preferentially selected as the target shuttle vehicle. For example, three available shuttle vehicles with the smallest and equal weighted sum of driving distances are respectively on the first shelf level, the second shelf level and the fifth shelf level, and the target goods to be shipped out are located on the fifth shelf level. In this case, the available shuttle vehicle on the same shelf level as the target goods to be shipped out is preferentially selected as the target shuttle vehicle, that is, the available shuttle vehicle located on the fifth shelf level is selected.

[0122] In some other exemplary embodiments, the global parameters also include the current position of the available shuttle elevator and the operating state of the shuttle elevator, the shuttle elevator is used to drive the target shuttle to replace the shelf layer, and the material box warehouse simulation model also includes a shuttle elevator model. Then, the material box warehouse simulation model constructed according to the global parameters also includes multiple shuttle elevator models, and the device also includes:

[0123] A third determining unit is used to determine, after determining the optimal shipping strategy, that the shuttle elevator whose operating state is the idle state among the plurality of shuttle elevators is an available shuttle elevator;

[0124] A simulation unit, for simulating, when there are multiple available shuttle elevators, a second shelf column difference of each available shuttle elevator according to the current position of each available shuttle elevator and the current position of the target shuttle, wherein the second shelf column difference of the available shuttle elevator is the absolute value of the difference between the shelf column number of the available shuttle elevator and the shelf column number of the target shuttle;

[0125] Specifically, the current position of the available shuttle elevator includes the serial number of the shelf column where the available shuttle elevator is currently located.

[0126] The fourth determining unit is used to determine the available shuttle elevator corresponding to the smallest absolute value as the target shuttle elevator, and control the target shuttle elevator to perform a layer-changing operation of the target shuttle.

[0127] In the described embodiment, by determining the shuttle elevator whose operating state is idle and selecting the shuttle elevator with the smallest second shelf column difference between each available shuttle elevator and the target shuttle car through calculation to perform the layer changing operation of the target shuttle car, the moving distance and time of the shuttle elevator are reduced, and the overall operational efficiency of the shuttle car out of the warehouse is improved.

[0128] Specifically, when there is only one available shuttle elevator, the available shuttle elevator is determined as the target shuttle elevator.

[0129] Exemplarily, when constructing a bin warehouse simulation model, first create a shelf layer conveyor in the class library so as to uniformly adjust the parameters. During the creation process, first determine whether the shelf layer conveyor has been created. If the shelf layer conveyor has been created, calibrate the position of the shelf layer conveyor; if the shelf layer conveyor has not been created, create the shelf layer conveyor according to the position of the shelf and the shelf structure; optionally, create a shuttle elevator in the class library. During the creation process, first determine whether the shuttle elevator has been created. If the shuttle elevator has been created, calibrate the position of the shuttle elevator; if the shuttle elevator has not been created, create the shuttle elevator according to the position and structure of the shelf; optionally, create a shuttle in the class library. Before running the bin warehouse simulation model, an initialization program can be set to be triggered at the beginning of the simulation. The initialization program includes an "initialize shelf" program, an "initialize shelf layer conveyor line" program, an "initialize shuttle" program, and an "outbound list initialization" program.

[0130] In another optional solution, the device further includes: an operation unit, which is used to operate the material box warehouse simulation model before determining that the shuttle vehicle with the operating status of the plurality of shuttle vehicles being the idle state is an available shuttle vehicle according to the material box warehouse simulation model, so that the material box warehouse simulation model generates an available shuttle vehicle list according to the operating status of the plurality of shuttle vehicles, and generates an available shuttle vehicle elevator list according to the operating status of the plurality of shuttle vehicle elevators;

[0131] a first removing unit, configured to remove the available shuttle vehicle having a fault from the available shuttle vehicle list when it is determined that the available shuttle vehicle has a fault, and to remove the available shuttle vehicle elevator having a fault from the available shuttle vehicle elevator list when it is determined that the available shuttle vehicle elevator has a fault;

[0132] The device further includes: a second removing unit, configured to remove the target shuttle from the available shuttle list after determining, based on the weighted sum of the travel distances, that the available shuttle corresponding to the minimum weighted sum of the travel distances is the target shuttle;

[0133] The device further includes: a third removing unit, configured to remove the target shuttle elevator from the list of available shuttle elevators after determining that the available shuttle elevator corresponding to the smallest second shelf column difference is the target shuttle elevator.

[0134] In the described embodiment, when a shuttle or shuttle elevator failure is detected, the faulty equipment is immediately removed from the available list, ensuring that the optimal shipping strategy is evaluated and determined based on the available shuttle resources and shuttle elevator resources, further ensuring the effectiveness and efficiency of the shipping strategy and reducing the impact of equipment failure on the overall logistics operation.

[0135] In some further exemplary embodiments of the present application, the device further comprises:

[0136] The second acquisition unit is used to acquire fault information of the available shuttle car or the available shuttle car elevator when a fault is detected in the available shuttle car or the available shuttle car elevator, wherein the fault information includes the fault type, fault time, and fault location; and send the fault information to a mobile device of a maintenance personnel.

[0137] Specifically, the fault information of the shuttle vehicle can be updated to the running status, so that its running status is displayed as "fault".

[0138] In the described embodiment, by acquiring and instantly sending detailed fault information (including fault type, fault time, and fault location) of a faulty shuttle car or shuttle car elevator, it is possible to ensure that maintenance personnel can quickly and accurately understand the fault situation, and provide key information support for rapid maintenance response, thereby shortening the maintenance response time, minimizing the downtime of the logistics system caused by the failure of the shuttle car or shuttle car elevator, and ensuring the continuity and stability of logistics operations.

[0139] In some other exemplary schemes of the present application, the device also includes: a third acquisition unit, used to obtain the power level of the target shuttle vehicle that has completed the outbound dispatch after the target shuttle vehicle is dispatched out of the warehouse; a second control unit, used to control the target shuttle vehicle to go to the charging station when the power level is lower than a preset threshold power level, and control the target shuttle vehicle to return to the location of the target goods to be dispatched out of the warehouse when the power level is not lower than the preset threshold power level.

[0140] In the embodiment, the power information of the target shuttle vehicle after the outbound dispatch is obtained to determine the power status of the shuttle vehicle. When the power is lower than the preset threshold power, the shuttle vehicle is promptly controlled to go to the charging station, which effectively avoids the interruption of logistics operations due to power exhaustion and ensures the continuity and stability of the logistics system. At the same time, it also avoids the problem of shortened battery life due to frequent deep discharge of the shuttle vehicle, which helps to extend the overall service life of the shuttle vehicle and reduce operating costs.

[0141] Exemplarily, when constructing a material box warehouse simulation model, the global parameter "start outbound time" is set, and when the "start outbound time" is reached, the first determination unit, the second determination unit, the first control unit, the third determination unit, the simulation unit and the fourth determination unit are executed.

[0142] In this application, Plant Simulation software is used to construct the material bin library simulation model. The constructed material bin library model is as follows: Figure 3 and Figure 4 As shown. Figure 3 and Figure 4 As shown, the material box warehouse model specifically includes: a shelf model 11; a plurality of shuttle models 12; and a plurality of shuttle elevator models 13. In addition, the material box warehouse model also includes a track 14 for the shuttle model 12 to travel to the delivery position.

[0143] The dispatching device of the shuttle vehicle of the container storage includes a processor and a memory, and the first acquisition unit, the first determination unit, the second determination unit, and the first control unit are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0144] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the problem of low scheduling efficiency of the shuttle vehicle in the prior art can be at least solved by adjusting the kernel parameters.

[0145] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0146] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the scheduling method for the container storage shuttle vehicle.

[0147] Specifically, the dispatching method of the container storage shuttle includes:

[0148] Step S201, obtaining global parameters of the container warehouse, and constructing a container warehouse simulation model according to the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles;

[0149] Specifically, the material bin warehouse simulation model includes a shelf model and a shuttle model. Each shelf layer includes a plurality of shelf columns.

[0150] Step S202, running the bin warehouse simulation model to determine the location of the target goods to be shipped out, the target goods to be shipped out are the goods to be shipped out first according to the beat requirement;

[0151] Specifically, when goods enter the warehouse, the location information of the shelf where the goods are located is recorded and called when the goods are to be shipped out. The beat refers to the time interval for each shelf layer to output goods.

[0152] Step S203, based on the simulation model of the bin warehouse and the location of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, wherein the optimal shipping strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, wherein the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be shipped out, and the optimal shipping strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column;

[0153] Specifically, the driving path includes the path of the target shuttle vehicle from its position to the position of the target goods to be shipped. The driving path may also include the path of the target shuttle vehicle transporting the target goods to be shipped from the position of the target goods to be shipped to the shipping position.

[0154] Step S204: According to the optimal shipping strategy, the target shuttle vehicle is controlled to perform shipping scheduling for the target goods to be shipped out.

[0155] Optionally, running the bin warehouse simulation model to determine the location of the target goods to be shipped out includes: running the bin warehouse simulation model so that the bin warehouse simulation model generates an outbound list according to the rhythm, and the outbound list records the outbound priority order of all the goods to be shipped out; determining that the goods to be shipped that are ranked first in the outbound list are the target goods to be shipped out.

[0156] Optionally, the global parameters also include the running state of the shuttle vehicle, and the running state includes an idle state and a busy state. According to the bin warehouse simulation model and the position of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, including: according to the bin warehouse simulation model, determining that the shuttle vehicle with the idle running state among multiple shuttle vehicles is an available shuttle vehicle; when there are multiple available shuttle vehicles, according to the current position of each available shuttle vehicle and the position of the target goods to be shipped out, simulating the shelf layer difference and the first shelf column difference of each available shuttle vehicle, wherein the shelf layer difference is the difference between the shelf layer sequence number of the available shuttle vehicle and the shelf column number of the target goods to be shipped out. The first shelf column difference is the absolute value of the difference between the shelf column number where the available shuttle vehicle is located and the shelf column number where the target goods to be shipped out are located; according to the shelf layer difference and the first shelf column difference, the weighted sum of the driving distance of each available shuttle vehicle is determined to be the product of the shelf layer difference and a first coefficient plus the product of the first shelf column difference and a second coefficient, and the first coefficient is greater than the second coefficient; according to the weighted sum of driving distances, the available shuttle vehicle corresponding to the smallest weighted sum of driving distances is determined to be the target shuttle vehicle, and the path from the current position of the target shuttle vehicle through the position of the target goods to be shipped out to the designated location for shipping out is determined to be the driving path.

[0157] Optionally, the global parameters also include the current position of an available shuttle elevator and the operating state of the shuttle elevator, the shuttle elevator is used to drive the target shuttle to change the shelf layer, and after determining the optimal shipping strategy, the method further includes: determining that the shuttle elevator whose operating state is the idle state among the multiple shuttle elevators is an available shuttle elevator; in the case where there are multiple available shuttle elevators, simulating the material box warehouse simulation model according to the current position of each of the available shuttle elevators and the current position of the target shuttle, to obtain the second shelf column difference of each available shuttle elevator, the second shelf column difference being the absolute value of the difference between the shelf column serial number of the available shuttle elevator and the shelf column serial number of the target shuttle; determining the available shuttle elevator corresponding to the smallest second shelf column difference as the target shuttle elevator, and controlling the target shuttle elevator to perform the layer changing operation of the target shuttle.

[0158] Optionally, before determining, according to the material bin warehouse simulation model, that the shuttle vehicle whose operating status is the idle state among the multiple shuttle vehicles is an available shuttle vehicle, the method further includes: running the material bin warehouse simulation model so that the material bin warehouse simulation model generates an available shuttle vehicle list according to the operating status of the multiple shuttle vehicles, and generates an available shuttle vehicle elevator list according to the operating status of the multiple shuttle vehicle elevators; in the case of determining that the available shuttle vehicle has a fault, removing the faulty available shuttle vehicle from the available shuttle vehicle list, and in the case of determining that the available shuttle vehicle has been acquired, In the event of a failure of an available shuttle elevator, the failed available shuttle elevator is removed from the list of available shuttle elevators; after determining, based on the weighted sum of the driving distances, that the available shuttle elevator corresponding to the smallest weighted sum of the driving distances is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators; after determining that the available shuttle elevator corresponding to the smallest second shelf column difference is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators.

[0159] Optionally, when a fault is detected in the available shuttle car or the available shuttle car elevator, the method further includes: obtaining fault information of the faulty available shuttle car or the available shuttle car elevator, the fault information including fault type, fault time, and fault location; and sending the fault information to a mobile device of a maintenance personnel.

[0160] Optionally, after controlling the target shuttle vehicle to perform outbound dispatch of the target goods to be dispatched according to the optimal dispatching strategy, the method further includes: obtaining the power level of the target shuttle vehicle that has completed the outbound dispatching dispatch; when the power level is lower than a preset threshold power level, controlling the target shuttle vehicle to go to a charging station; and when the power level is not lower than the preset threshold power level, controlling the target shuttle vehicle to return to the location of the target goods to be dispatched.

[0161] An embodiment of the present invention provides an electronic device, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs include a method for executing any one of the methods described. When the program is executed, at least the following steps are implemented:

[0162] Step S201, obtaining global parameters of the container warehouse, and constructing a container warehouse simulation model according to the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles;

[0163] Specifically, the material bin warehouse simulation model includes a shelf model and a shuttle model. Each shelf layer includes a plurality of shelf columns.

[0164] Step S202, running the bin warehouse simulation model to determine the location of the target goods to be shipped out, the target goods to be shipped out are the goods to be shipped out first according to the beat requirement;

[0165] Specifically, when goods enter the warehouse, the location information of the shelf where the goods are located is recorded and called when the goods are to be shipped out. The beat refers to the time interval for each shelf layer to output goods.

[0166] Step S203, based on the simulation model of the bin warehouse and the location of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, wherein the optimal shipping strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, wherein the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be shipped out, and the optimal shipping strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column;

[0167] Specifically, the driving path includes the path of the target shuttle vehicle from its position to the position of the target goods to be shipped. The driving path may also include the path of the target shuttle vehicle transporting the target goods to be shipped from the position of the target goods to be shipped to the shipping position.

[0168] Step S204: According to the optimal shipping strategy, the target shuttle vehicle is controlled to perform shipping scheduling for the target goods to be shipped out.

[0169] Optionally, running the bin warehouse simulation model to determine the location of the target goods to be shipped out includes: running the bin warehouse simulation model so that the bin warehouse simulation model generates an outbound list according to the rhythm, and the outbound list records the outbound priority order of all the goods to be shipped out; determining that the goods to be shipped that are ranked first in the outbound list are the target goods to be shipped out.

[0170] Optionally, the global parameters also include the running state of the shuttle vehicle, and the running state includes an idle state and a busy state. According to the bin warehouse simulation model and the position of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, including: according to the bin warehouse simulation model, determining that the shuttle vehicle with the idle running state among multiple shuttle vehicles is an available shuttle vehicle; when there are multiple available shuttle vehicles, according to the current position of each available shuttle vehicle and the position of the target goods to be shipped out, simulating the shelf layer difference and the first shelf column difference of each available shuttle vehicle, wherein the shelf layer difference is the difference between the shelf layer sequence number of the available shuttle vehicle and the shelf column number of the target goods to be shipped out. The first shelf column difference is the absolute value of the difference between the shelf column number where the available shuttle vehicle is located and the shelf column number where the target goods to be shipped out are located; according to the shelf layer difference and the first shelf column difference, the weighted sum of the driving distance of each available shuttle vehicle is determined to be the product of the shelf layer difference and a first coefficient plus the product of the first shelf column difference and a second coefficient, and the first coefficient is greater than the second coefficient; according to the weighted sum of driving distances, the available shuttle vehicle corresponding to the smallest weighted sum of driving distances is determined to be the target shuttle vehicle, and the path from the current position of the target shuttle vehicle through the position of the target goods to be shipped out to the designated location for shipping out is determined to be the driving path.

[0171] Optionally, the global parameters also include the current position of an available shuttle elevator and the operating state of the shuttle elevator, the shuttle elevator is used to drive the target shuttle to change the shelf layer, and after determining the optimal shipping strategy, the method further includes: determining that the shuttle elevator whose operating state is the idle state among the multiple shuttle elevators is an available shuttle elevator; in the case where there are multiple available shuttle elevators, simulating the material box warehouse simulation model according to the current position of each of the available shuttle elevators and the current position of the target shuttle, to obtain the second shelf column difference of each available shuttle elevator, the second shelf column difference being the absolute value of the difference between the shelf column serial number of the available shuttle elevator and the shelf column serial number of the target shuttle; determining the available shuttle elevator corresponding to the smallest second shelf column difference as the target shuttle elevator, and controlling the target shuttle elevator to perform the layer changing operation of the target shuttle.

[0172] Optionally, before determining, according to the material bin warehouse simulation model, that the shuttle vehicle whose operating status is the idle state among the multiple shuttle vehicles is an available shuttle vehicle, the method further includes: running the material bin warehouse simulation model so that the material bin warehouse simulation model generates an available shuttle vehicle list according to the operating status of the multiple shuttle vehicles, and generates an available shuttle vehicle elevator list according to the operating status of the multiple shuttle vehicle elevators; in the case of determining that the available shuttle vehicle has a fault, removing the faulty available shuttle vehicle from the available shuttle vehicle list, and in the case of determining that the available shuttle vehicle has been acquired, In the event of a failure of an available shuttle elevator, the failed available shuttle elevator is removed from the list of available shuttle elevators; after determining, based on the weighted sum of the driving distances, that the available shuttle elevator corresponding to the smallest weighted sum of the driving distances is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators; after determining that the available shuttle elevator corresponding to the smallest second shelf column difference is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators.

[0173] Optionally, when a fault is detected in the available shuttle car or the available shuttle car elevator, the method further includes: obtaining fault information of the faulty available shuttle car or the available shuttle car elevator, the fault information including fault type, fault time, and fault location; and sending the fault information to a mobile device of a maintenance personnel.

[0174] Optionally, after controlling the target shuttle vehicle to perform outbound dispatch of the target goods to be dispatched according to the optimal dispatching strategy, the method further includes: obtaining the power level of the target shuttle vehicle that has completed the outbound dispatching dispatch; when the power level is lower than a preset threshold power level, controlling the target shuttle vehicle to go to a charging station; and when the power level is not lower than the preset threshold power level, controlling the target shuttle vehicle to return to the location of the target goods to be dispatched.

[0175] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0176] Obviously, those skilled in the art should understand 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, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than herein, 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.

[0177] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0178] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0179] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0180] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0181] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0182] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0183] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0184] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0185] From the above description, it can be seen that the embodiments described in this application achieve the following technical effects:

[0186] 1) The scheduling method of the shuttle car in the material box warehouse of the present application first obtains the global parameters of the material box warehouse to build a simulation model of the material box warehouse to simulate the real material outbound scene, and then determines the location of the target goods to be outbound by running the simulation model of the material box warehouse. Then, according to the location of the target goods to be outbound, the optimal shipping strategy is simulated and verified. The optimal shipping strategy includes selecting a target shuttle car from multiple shuttle cars and planning the driving path of the target shuttle car. Finally, the target shuttle car is controlled to perform outbound scheduling for the target goods to be outbound. The present application optimizes the scheduling efficiency of the shuttle car in the material box warehouse by constructing and running the simulation model of the material box warehouse and simulating and verifying the optimal shipping strategy according to the location of the target goods to be outbound.

[0187] 2) The dispatching device of the shuttle car of the material bin warehouse of the present application obtains the global parameters of the material bin warehouse through the first acquisition unit to construct a simulation model of the material bin warehouse, simulates the real material outbound scene, runs the simulation model of the material bin warehouse through the first determination unit, determines the location of the target goods to be outbound, and simulates and verifies the optimal shipping strategy according to the location of the target goods to be outbound through the second determination unit. The optimal shipping strategy includes selecting a target shuttle car from multiple shuttle cars and planning the driving path of the target shuttle car, and controlling the target shuttle car to dispatch the target goods to be outbound through the first control unit. The present application optimizes the dispatching efficiency of the shuttle car of the material bin warehouse by constructing and running the simulation model of the material bin warehouse, and simulating and verifying the optimal shipping strategy according to the location of the target goods to be outbound.

[0188] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for dispatching a shuttle vehicle in a material storage, characterized in that: include: Obtaining global parameters of the container warehouse, and constructing a container warehouse simulation model based on the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles; Running the bin warehouse simulation model to determine the location of target goods to be shipped out, wherein the target goods to be shipped out are the goods to be shipped out first according to the beat; According to the bin warehouse simulation model and the location of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, wherein the optimal shipping strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, wherein the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be shipped out, and the optimal shipping strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column; According to the optimal shipping strategy, the target shuttle vehicle is controlled to perform shipping dispatch for the target goods to be shipped out.

2. The method according to claim 1, characterized in that Running the bin warehouse simulation model to determine the location of the target goods to be shipped out of the warehouse includes: Running the bin warehouse simulation model so that the bin warehouse simulation model generates a dispatch list according to the beat, wherein the dispatch list records the dispatch priority order of all the goods to be dispatched; The goods to be shipped that are at the first position in the shipping list are determined as the target goods to be shipped.

3. The method according to claim 1, characterized in that The global parameters also include the running state of the shuttle, which includes an idle state and a busy state. According to the bin warehouse simulation model and the location of the target goods to be shipped out, the shipping of the target goods to be shipped out is simulated and verified to determine the optimal shipping strategy, including: According to the material box warehouse simulation model, determining that the shuttle vehicle whose running state is the idle state among the plurality of shuttle vehicles is an available shuttle vehicle; In the case where there are multiple available shuttles, according to the current position of each available shuttle and the position of the target goods to be shipped out, the shelf layer difference and the first shelf column difference of each available shuttle are obtained by simulation, wherein the shelf layer difference is the absolute value of the difference between the shelf layer number of the available shuttle and the shelf layer number of the target goods to be shipped out, and the first shelf column difference is the absolute value of the difference between the shelf column number of the available shuttle and the shelf column number of the target goods to be shipped out; According to the shelf layer difference and the first shelf column difference, determine that the weighted sum of the travel distance of each available shuttle is the product of the shelf layer difference and a first coefficient plus the product of the first shelf column difference and a second coefficient, and the first coefficient is greater than the second coefficient; According to the weighted sum of the driving distances, the available shuttle vehicle corresponding to the minimum weighted sum of the driving distances is determined as the target shuttle vehicle, and the path from the current position of the target shuttle vehicle through the position of the target goods to be shipped out to the designated shipping location is determined as the driving path.

4. The method according to claim 3, characterized in that The global parameters also include the current position of the available shuttle elevator and the operating state of the shuttle elevator, and the shuttle elevator is used to drive the target shuttle to change the shelf layer. After determining the optimal shipping strategy, the method also includes: Determine that the shuttle elevator whose operating state is the idle state among the plurality of shuttle elevators is an available shuttle elevator; In the case where there are multiple available shuttle elevators, the material bin warehouse simulation model is simulated according to the current position of each available shuttle elevator and the current position of the target shuttle, to obtain the second shelf column difference of each available shuttle elevator, where the second shelf column difference is the absolute value of the difference between the shelf column number where the available shuttle elevator is located and the shelf column number where the target shuttle is located; The available shuttle elevator corresponding to the smallest second shelf column difference is determined as the target shuttle elevator, and the target shuttle elevator is controlled to perform a layer-changing operation of the target shuttle.

5. The method according to claim 4, characterized in that Before determining, according to the material bin warehouse simulation model, that the shuttle vehicle whose operating state is the idle state among the plurality of shuttle vehicles is an available shuttle vehicle, the method further comprises: running the material bin warehouse simulation model so that the material bin warehouse simulation model generates an available shuttle vehicle list according to the operating states of the plurality of shuttle vehicles, and generates an available shuttle vehicle elevator list according to the operating states of the plurality of shuttle vehicle elevators; when it is determined that the available shuttle vehicle has a fault, removing the available shuttle vehicle with the fault from the available shuttle vehicle list, and when it is determined that the available shuttle vehicle elevator has a fault, removing the available shuttle vehicle elevator with the fault from the available shuttle vehicle elevator list. After determining, based on the weighted sum of the travel distances, that the available shuttle corresponding to the minimum weighted sum of the travel distances is the target shuttle, the method further includes: removing the target shuttle from the list of available shuttles, After determining that the available shuttle elevator corresponding to the smallest second shelf column difference is the target shuttle elevator, the method further includes: removing the target shuttle elevator from the list of available shuttle elevators.

6. The method according to claim 5, characterized in that In the event that a failure of the available shuttle or the available shuttle elevator is detected, the method further comprises: Acquire fault information of the available shuttle vehicle or the available shuttle vehicle elevator that has a fault, wherein the fault information includes a fault type, a fault time, and a fault location; The fault information is sent to a mobile device of a maintenance personnel.

7. The method according to any one of claims 1 to 6, characterized in that After controlling the target shuttle vehicle to perform outbound dispatching of the target goods to be outbound according to the optimal delivery strategy, the method further includes: Obtaining the power of the target shuttle vehicle that has completed the outbound dispatch; When the power level is lower than a preset threshold power level, the target shuttle vehicle is controlled to go to a charging station. When the power level is not lower than the preset threshold power level, the target shuttle vehicle is controlled to return to the location of the target goods to be shipped out.

8. A dispatching device for a material box warehouse shuttle vehicle, characterized in that: include: A first acquisition unit is used to acquire global parameters of the container warehouse and construct a container warehouse simulation model according to the global parameters, wherein the global parameters include the number of shelf layers, the number of shelf columns of each shelf layer, the beat of each shelf layer outputting goods to be shipped out, and the current positions of multiple shuttle vehicles; A first determination unit is used to run the bin warehouse simulation model to determine the location of target goods to be shipped out, where the target goods to be shipped out are the goods to be shipped out first according to the beat requirement; The second determination unit is used to perform simulation verification on the outbound delivery of the target goods to be outbound according to the simulation model of the bin warehouse and the location of the target goods to be outbound, and determine the optimal delivery strategy, wherein the optimal delivery strategy at least includes a target shuttle vehicle and a driving path of the target shuttle vehicle, wherein the target shuttle vehicle is the shuttle vehicle for transporting the target goods to be outbound, and the optimal delivery strategy aims to minimize the weighted sum of the driving distance of the target shuttle vehicle on the shelf layer and the driving distance on the shelf column; The first control unit is used to control the target shuttle vehicle to perform outbound dispatching of the target goods to be shipped out according to the optimal shipping strategy.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 7.

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