Scheduling method and device for four-way shuttle vehicle system under multi-service scene fusion

Abstract

The invention provides a four-way shuttle vehicle system scheduling method and device under multi-service scene fusion. Starting from a four-way vehicle system involved in engineering practice, a two-way platform automatic switching strategy and a vehicle path conflict obstacle avoidance strategy under a single elevator are provided in combination with constraints such as caching of a two-way platform, a single elevator, a plurality of four-way vehicles and a chain type machine in the four-way vehicle system; according to a static or dynamic obstacle avoidance strategy and two obstacle avoidance calculation modes of multiple four-way vehicles, the provided solution can enrich theoretical knowledge and can be applied in practice.

Description

Technical Field

[0001] The present application relates to a method and device for dispatching a four-way shuttle system under the fusion of multiple business scenarios, and belongs to the field of new energy technology. Background Art

[0002] The four-way vehicle system is widely used in three-dimensional warehouses in the pharmaceutical and food industries due to its flexible layout, strong flexibility, and high space utilization. The stable operation of the four-way vehicle depends on a reliable scheduling system, which mainly involves task allocation, path planning, obstacle avoidance, etc. Among them, task allocation is to assign tasks to appropriate four-way vehicles, path planning is to plan point-to-point paths for the four-way vehicles that perform tasks, and obstacle avoidance is to solve the path conflicts that occur when each four-way vehicle is executing the path by adopting appropriate obstacle avoidance strategies.

[0003] In the theoretical research of four-way vehicles, various situations are assumed to be relatively ideal. However, in the actual use of four-way vehicles, due to the limitation of site or funds, some four-way vehicle systems are small in scale but have multiple business scenarios at the same time. For example, in addition to obstacle avoidance on the same floor and vehicle crossing floors, some four-way vehicle business scenarios only have one elevator, and all cross-floor operations need to be completed by this one elevator. In actual operation, the elevator becomes a bottleneck equipment, resulting in the coexistence of multiple scenarios. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present application provides a scheduling method and device for a four-way shuttle system under the integration of multiple business scenarios.

[0005] In order to achieve the above objectives, this application provides the following technical solutions: In a first aspect, an embodiment of the present application provides a method for scheduling a four-way shuttle system under a multi-business scenario fusion, wherein the scenario includes multi-layer shelves and only one elevator is provided, and the number of four-way vehicles is less than the number of shelf layers; the method includes: Sort all pending tasks by priority, and take the task with the highest priority as the target task; According to the current position of the goods corresponding to the target task, request the four-way vehicle or elevator to perform the target task; When requesting a four-way vehicle to execute, determine whether there is an idle four-way vehicle in the task layer. If there is a four-way vehicle in the task layer and it is in an idle state, control the idle four-way vehicle to execute the target task. If there is a four-way vehicle in the task layer but it is not in an idle state, wait until it becomes idle, and then control the idle four-way vehicle to execute the target task. If there is no four-way vehicle in the task layer, wait until there is an idle four-way vehicle in other layers, and then control the corresponding idle four-way vehicle to execute the target task across layers. When requesting the elevator to execute, determine whether the elevator and the corresponding destination station are currently idle. If so, execute the target task through the elevator. Otherwise, continue to wait until the elevator and the corresponding destination station are idle, and then execute the target task through the elevator.

[0006] Based on the above method, optionally, the scenario includes a bidirectional platform supporting outbound and inbound storage; the method further includes: switching the outbound and inbound storage status of the bidirectional platform according to the task to be executed, and executing the corresponding outbound task or inbound task; The process of executing the outbound task includes: Step 1: Get the current task list and check whether there is any outbound task to be executed. If yes, proceed to Step 2, otherwise release the outbound lock; Step 2: Check whether the destination platform of this outbound task is a two-way platform. If yes, proceed to Step 3. Otherwise, generate a path to execute the corresponding task. Step 3: Check the status of the current two-way platform. If it is neither locked for inbound nor locked for outbound and the platform is idle, first lock it for outbound, otherwise proceed to Step 4. Step 4: Check whether the current station has been locked for outbound delivery. If so, directly generate a path task for execution. Otherwise, continue to execute the judgment of Step 3 until outbound delivery can be locked. The process of executing the warehousing task includes: Step 5: Get the current task list and check whether there is any incoming task to be executed. If yes, proceed to Step 6 for judgment. Otherwise, release the outgoing task lock. Step 6: Check whether the destination platform of this warehousing task is a two-way platform. If yes, proceed to Step 7. Otherwise, generate a path to execute the corresponding task. Step 7: Check the status of the current two-way platform. If it is neither locked for inbound nor locked for outbound and the platform is idle, first lock it for inbound, otherwise proceed to Step 8. Step 8: Check whether the current station has been locked for storage. If it is, directly generate a path task for execution. Otherwise, continue to execute the judgment of Step 7 until it can be locked for storage.

[0007] Based on the above method, optionally, it also includes: When executing a task through a four-way vehicle, determine whether there are other four-way vehicles on its current running path; if there are other four-way vehicles, determine whether the other four-way vehicles are in an idle state; If it is in an idle state, the idle four-way vehicle is controlled to move to a reasonable position to avoid obstacles; If it is not in idle state, obstacle avoidance is performed according to the set obstacle avoidance strategy based on the work tasks of the two four-way vehicles.

[0008] Based on the above method, optionally, performing obstacle avoidance according to a set obstacle avoidance strategy based on the work tasks of the two four-way vehicles includes: The distances between the two four-way vehicles and their respective nearest obstacle avoidance positions are determined, and the four-way vehicle with a shorter distance to the nearest obstacle avoidance position is controlled to move to the nearest obstacle avoidance position for obstacle avoidance.

[0009] Based on the above method, optionally, when controlling the four-way vehicle to perform a target task, a method for generating a task path and avoiding obstacles during the task execution includes: Step 1: Calculate the optimal path for each four-way vehicle that currently has a task; Step 2: Execute the optimal path in sequence and determine whether the current path has conflicts. If there are no conflicts, execute directly. If there are conflicts, execute according to Step 3. Step 3: Find the obstacle avoidance position in the shelf, generate an obstacle avoidance path with the current coordinate point as the starting point and the obstacle avoidance position as the end point. After the obstacle avoidance is completed, generate a path with the current position as the starting point and the position before obstacle avoidance as the end point, and continue to run along the optimal path; Step 4: Continue to execute each path until all paths are completed.

[0010] Based on the above method, optionally, when controlling the four-way vehicle to perform a target task, a method for generating a task path and avoiding obstacles during the task execution includes: Step 1: Calculate the optimal path for each four-way vehicle that currently has a task; Step 2: Execute the optimal path in sequence and determine whether the current path has conflicts. If there are no conflicts, execute directly. If there are conflicts, execute according to Step 3. Step 3: Determine whether the conflict point is a must-pass point for the two vehicles. If so, determine the distances from the two four-way vehicles to their respective nearest obstacle avoidance positions, and control the four-way vehicle with a closer distance to the nearest obstacle avoidance position to move to the nearest obstacle avoidance position for obstacle avoidance. If not, regenerate a path for vehicles at non-must-pass points for obstacle avoidance. Step 4: Continue to execute each path until all paths are completed.

[0011] Based on the above method, optionally, it also includes: When multiple four-way vehicles request to use the same elevator at the same time, the elevator task request of one of the four-way vehicles is directly canceled, based on the principle that the destination floor of the elevator requested by the four-way vehicle at the same time cannot be the starting floor of the same elevator used by other four-way vehicles.

[0012] In a second aspect, an embodiment of the present application further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor calls and executes the computer program, a four-way shuttle system scheduling method under the fusion of multiple business scenarios as described in any one of the first aspects is implemented.

[0013] The scheduling method and equipment for a four-way shuttle system under the integration of multiple business scenarios provided in this application, combined with constraints such as a single elevator and multiple four-way vehicles that appear in the business scenarios, proposes a scheduling solution that can enrich theoretical knowledge and be applied in practice. This can solve the problem that the business scenarios targeted by existing research are relatively single, as well as the problem that it is divorced from engineering reality and difficult to directly apply in on-site operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. In addition, these drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments.

[0015] Figure 1 A schematic diagram of a four-way vehicle system scenario layout provided for an embodiment of the present application; Figure 2 A flowchart of a method for dispatching a four-way shuttle system under the fusion of multiple business scenarios provided by an embodiment of the present application; Figure 3 A schematic diagram of a process for executing a warehouse outbound task provided for an embodiment of the present application; Figure 4 A schematic diagram of an obstacle avoidance process provided for an embodiment of the present application; Figure 5 The obstacle avoidance principle diagram provided for one embodiment of the present application; wherein, Figure 5 (a) is the position of the four-way vehicle before obstacle avoidance. Figure 5 (b) The position of the four-way vehicle after obstacle avoidance; Figure 6 Another obstacle avoidance principle diagram provided for an embodiment of the present application; wherein, Figure 6 (a) is the position of the four-way vehicle before obstacle avoidance. Figure 6 (b) The position of the four-way vehicle after obstacle avoidance; Figure 7 A flow chart of a path calculation method for precalculating an obstacle avoidance path provided in one embodiment of the present application; Figure 8 A flow chart of a path calculation method for dynamically calculating an obstacle avoidance path provided in one embodiment of the present application; Fig. 9An obstacle avoidance principle diagram of dynamic obstacle avoidance provided by one embodiment of the present application; Fig.10 A schematic diagram of a plurality of four-way car request hoists provided for one embodiment of the present application; Fig.11 A schematic diagram of the structure of an electronic device provided for one embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0017] The existing technology has two main shortcomings. First, the business scenarios studied are relatively simple, and there is a lack of overall research on the four-way vehicle system. Second, most of the research is conducted under theoretical conditions, which is divorced from engineering reality and is difficult to directly apply in on-site operations.

[0018] In view of the above problems, the present invention provides a scheduling scheme for a four-way shuttle system under the fusion of multiple business scenarios. This scheme is mainly based on engineering practice and studies the scheduling strategy of four-way shuttles under the fusion of multiple business scenarios. By analyzing the multiple business scenarios involved in the system, corresponding solutions are proposed, which not only enriches theoretical research but also meets engineering applications. The following is a non-restrictive explanation of the specific implementation scheme through several examples or embodiments.

[0019] Some embodiments of the present application provide a method for scheduling a four-way shuttle system under the fusion of multiple business scenarios. The method can be applied to a certain actual four-way shuttle system scenario layout such as Figure 1 The basic parameters are shown in Table 1.

[0020] Table 1 Basic parameters of four-way vehicle system

[0021] Its business scenario characteristics are as follows: 1. Cars change layers. The number of cars is less than the number of shelves. In some scenarios, cars need to perform tasks across layers.

[0022] 2. Goods can be directly transported to the inner platform via the elevator, or transported to the inner platform via a four-way vehicle, and then transported to the inner platform corresponding to the destination via the elevator, and then the four-way vehicle can be used to deliver the goods on the inner platform to the corresponding destination.

[0023] 3. Two-way entrance and exit: the same platform has two functions, which can be used as both an exit and an entrance. The two modes can be switched manually or automatically.

[0024] 4. Obstacle avoidance for vehicles on the same floor. If the outbound task volume on the first or third floor is large, an obstacle avoidance strategy is needed to resolve the path conflict caused by three vehicles running on the same floor.

[0025] 5. Cross-layer vehicle obstacle avoidance. In this business scenario, there is only one elevator, and it is easy for two vehicles to go up and down the elevator at the same time.

[0026] Based on similar business scenarios, refer to Figure 2 , Figure 2 A flow chart of a method for dispatching a four-way shuttle system under the fusion of multiple business scenarios provided for an embodiment of the present application. The scenario includes multi-layer shelves and only one elevator, and the number of four-way vehicles is less than the number of shelf layers. In particular, the solution of this embodiment can be a processing system configured in a computer or server or other device. That is, the solution of this embodiment can be implemented by a software system in an electronic device.

[0027] like Figure 2 As shown, the scheduling method of the four-way shuttle system under the fusion of multiple business scenarios in this embodiment includes the following steps: Sort all pending tasks by priority, and take the task with the highest priority as the target task; According to the current position of the goods corresponding to the target task, request the four-way vehicle or elevator to perform the target task; When requesting a four-way vehicle to execute, determine whether there is an idle four-way vehicle in the task layer. If there is a four-way vehicle in the task layer and it is in an idle state, control the idle four-way vehicle to execute the target task. If there is a four-way vehicle in the task layer but it is not in an idle state, wait until it becomes idle, and then control the idle four-way vehicle to execute the target task. If there is no four-way vehicle in the task layer, wait until there is an idle four-way vehicle in other layers, and then control the corresponding idle four-way vehicle to execute the target task across layers. When requesting the elevator to execute, determine whether the elevator and the corresponding destination station are currently idle. If so, execute the target task through the elevator. Otherwise, continue to wait until the elevator and the corresponding destination station are idle, and then execute the target task through the elevator.

[0028] In this way, for business scenarios with multi-layer shelves, the number of four-way vehicles is less than the number of shelf layers, and there is only one elevator, the system's four-way vehicles and elevators can be reasonably scheduled to improve operating efficiency.

[0029] In addition, when the business scenario includes a two-way platform that supports outbound and inbound storage. For the two-way platform, in addition to being able to switch between the two functions of outbound and inbound storage through the traditional setting button, it can also be controlled in an automatic manner. The scheduling method also includes: switching the inbound and outbound status of the two-way platform according to the task to be executed, and executing the corresponding outbound task or inbound task.

[0030] Specifically, refer to Figure 3 , the process of executing the outbound task includes: Step 1: Get the current task list and check whether there is an outbound task to be executed. If yes, proceed to Step 2, otherwise release the outbound lock (in the outbound lock state, only outbound tasks can be executed. Similarly, in the inbound lock state, only inbound tasks can be executed); Step 2: Check whether the destination platform of this outbound task is a two-way platform. If yes, proceed to Step 3. Otherwise, generate a path to execute the corresponding task. Step 3: Check the status of the current two-way platform. If it is neither locked for inbound nor locked for outbound and the platform is idle, first lock the outbound task (do not generate a path and execute it immediately at this time. Wait until the next cycle to confirm whether it is locked for outbound before executing, that is, the judgment of Step 4). Otherwise, judge in Step 4. Step 4: Check whether the current station has been locked for outbound delivery. If so, directly generate a path task for execution. Otherwise, continue to execute the judgment of Step 3 until the outbound delivery can be locked.

[0031] In this way, through outbound locking, interference between different types of tasks can be effectively avoided and outbound tasks can be performed efficiently.

[0032] Similarly, the process of executing the warehousing task includes: Step 5: Get the current task list and check whether there is any incoming task to be executed. If yes, proceed to Step 6 for judgment. Otherwise, release the outgoing task lock. Step 6: Check whether the destination platform of this warehousing task is a two-way platform. If yes, proceed to Step 7. Otherwise, generate a path to execute the corresponding task. Step 7: Check the status of the current two-way platform. If it is neither locked for inbound nor locked for outbound and the platform is idle, first lock it for inbound, otherwise proceed to Step 8. Step 8: Check whether the current station has been locked for storage. If it is, directly generate a path task for execution. Otherwise, continue to execute the judgment of Step 7 until it can be locked for storage.

[0033] Accordingly, through warehousing locking, warehousing tasks can be performed efficiently.

[0034] In addition, in practice, the four-way vehicle also faces the problem of obstacle avoidance when performing tasks. Figure 4 As shown, for the obstacle avoidance problem, the scheduling method may also include: When a four-way vehicle is executing a task, it is determined whether there are other four-way vehicles on its current running path; if there are other four-way vehicles, it is determined whether the other four-way vehicles are in an idle state (i.e., whether there are tasks); If it is in an idle state, the idle four-way vehicle is controlled to move to a reasonable position (such as a cargo position) to avoid obstacles; If it is not in idle state, obstacle avoidance is performed according to the set obstacle avoidance strategy based on the work tasks of the two four-way vehicles.

[0035] There are two main forms of obstacle avoidance strategies. One is static obstacle avoidance, which mainly refers to obstacle avoidance measures for a large number of tasks on the same layer with the same destination, including two specific situations. One is that the destinations are all cache platforms, such as 2-3-27, and the other is that the destinations are all outbound platforms, such as 1-1-30. There is no essential difference in the obstacle avoidance measures of the two. Before executing a task, each vehicle pre-judges whether the destination is occupied by a four-way vehicle, and then determines whether it has a task. If there is a task, it continues to execute. Subsequent obstacle avoidance situations can be handled with reference to the conventional obstacle avoidance measures in the shelf. If the four-way vehicle at the destination is idle, first find a cargo position for this four-way vehicle to avoid obstacles. After the obstacle avoidance is completed, another four-way vehicle task will be carried out. Related examples are Figure 5 As shown in (a), after the vehicle at coordinate 1-3-24 picks up the goods, it needs to leave the warehouse at the platform at coordinate 1-1-30. However, there is an idle four-way vehicle at the destination platform, so it is necessary to perform obstacle avoidance operations on this idle four-way vehicle first, such as Figure 5 As shown in (b), a nearby cargo space is selected for an idle four-way vehicle to avoid obstacles. This processing method can also be used to handle the situation where there are idle four-way vehicles in the warehouse entry or warehouse transfer path.

[0036] The second is dynamic obstacle avoidance. There are three main obstacle avoidance situations: vertical, same direction, and reverse. The most complex and changeable one is when the two vehicles are on opposite paths. Typical examples include Figure 6 As shown, Figure 6 In (a), the four-way vehicle No. 1 has just walked onto the track after picking up the goods from the cache station at coordinate 4-3-27 and is about to move in the negative direction of the Y axis. At the same time, another four-way vehicle No. 2 has arrived at the track at coordinate 4-2-21 after picking up the goods at the cargo location at coordinate 4-3-21 and is about to deliver the goods to the cache station at coordinate 4-3-27. The two vehicles are moving in opposite directions. Since the left side of the four-way vehicle No. 1 is an inaccessible location and the right side is the platform, it is not convenient to avoid obstacles. The No. 2 vehicle has just picked up the goods from the cargo location 4-3-21 and can avoid obstacles here and wait for the No. 1 vehicle to pass before continuing to drive.

[0037] In summary, obstacle avoidance is performed according to the set obstacle avoidance strategy based on the work tasks of the two four-way vehicles, including: determining the distances between the two four-way vehicles and their respective nearest obstacle avoidance positions, and controlling the four-way vehicle that is closer to the nearest obstacle avoidance position to move to the nearest obstacle avoidance position for obstacle avoidance.

[0038] That is, in the obstacle avoidance strategy, the four-way vehicle with a relatively shorter moving path when avoiding obstacles performs obstacle avoidance actions, allowing the four-way vehicle with a relatively longer moving path when avoiding obstacles to pass first.

[0039] In addition, when controlling the four-way vehicle to perform the target task, there are two ways to avoid obstacles. One is to pre-calculate the complete optimized path of the task to be performed by the current vehicle. The corresponding flow chart is as follows: Figure 7 The second is to dynamically change the path, the corresponding flow chart is as follows Figure 8 The detailed steps are as follows: For the first idea, when controlling the four-way vehicle to perform the target task, the method of generating the task path and avoiding obstacles during the task execution includes: Step 1: Calculate the optimal path for each four-way vehicle that currently has a task; Step 2: Execute the optimal path in sequence and determine whether the current path has conflicts. If there are no conflicts, execute directly. If there are conflicts, execute according to Step 3. Step 3: Find the obstacle avoidance position in the shelf, generate an obstacle avoidance path with the current coordinate point as the starting point and the obstacle avoidance position as the end point. After the obstacle avoidance is completed, generate a path with the current position as the starting point and the position before obstacle avoidance as the end point, and continue to run along the optimal path; Step 4: Continue to execute each path until all paths are completed.

[0040] For the second idea, when controlling the four-way vehicle to perform the target task, the method of generating the task path and avoiding obstacles during the task execution includes: Step 1: Calculate the optimal path for each four-way vehicle that currently has a task; Step 2: Execute the optimal path in sequence and determine whether the current path has conflicts. If there are no conflicts, execute directly. If there are conflicts, execute according to Step 3. Step 3: Determine whether this conflict point is a must-pass point for the two vehicles. If so, determine the distances from the two four-way vehicles to their respective nearest obstacle avoidance positions, and control the four-way vehicle with a closer distance to the nearest obstacle avoidance position to move to the nearest obstacle avoidance position for obstacle avoidance. If not, regenerate the path for vehicles at non-must-pass points for obstacle avoidance; refer to Fig. 9As shown in the figure, when a loaded four-way vehicle A and an empty four-way vehicle B meet in the opposite direction, since the loaded vehicle A must go straight through the intersection, while the vehicle B can pass through the cargo space, the empty vehicle B can pass through the bottom of the cargo space to reach the destination after re-path planning. No additional obstacle avoidance measures are required, where the dotted line represents the path initially planned by vehicle B, and the solid line represents the actual path taken after re-planning.

[0041] Step 4: Continue to execute each path until all paths are completed.

[0042] In addition, in a business scenario with only one elevator, there are situations where people go up and down the elevator at the same time.

[0043] In this scenario, the scheduling method also includes: When multiple four-way vehicles request to use the same elevator at the same time, the elevator task request of one of the four-way vehicles is directly canceled, based on the principle that the destination floor of the elevator requested by the four-way vehicle at the same time cannot be the starting floor of the same elevator used by other four-way vehicles.

[0044] For example, one possible situation is Fig.10 As shown. Since there is no charging device on the second floor, the four-way vehicle on this floor needs to be charged across floors. Assume that it needs to go to the third floor to charge. At the same time, a four-way vehicle on the first floor wants to go to the second floor to perform storage tasks. In order to avoid the two vehicles applying for the elevator at the same time, it is necessary to make a judgment in advance. When such a situation is detected, the destination floor of the four-way vehicle requesting the elevator at the same time cannot be the starting floor of other four-way vehicles using the same elevator. The task request for the elevator on one of the four-way vehicles is directly canceled. There are many other situations where multiple four-way vehicles request the elevator at the same time and there are conflicts. They are not listed here one by one, and the essential ideas for solving them are similar.

[0045] In addition, it should be noted that the present application only proposes corresponding strategies for key scenarios and does not involve the specific layout of the four-way vehicle system, that is, the relevant strategies can also be applied to other different warehouse layouts.

[0046] Through the above scheme, this application starts from a four-way vehicle system involved in an engineering practice, combines the constraints of the two-way platform, single hoist, multiple four-way vehicles, chain machine cache, etc., and proposes a two-way platform automatic switching strategy, a vehicle path conflict obstacle avoidance strategy under a single hoist, and a static or dynamic obstacle avoidance strategy for multiple four-way vehicles and two obstacle avoidance calculation methods. The proposed solution can enrich theoretical knowledge and be applied in practice. It can solve the corresponding problems existing in the prior art.

[0047] In addition, an embodiment of the present application provides an electronic device, such as Fig.11As shown, the electronic device includes a memory 11 and a processor 12; wherein the memory 11 stores a computer program, and when the processor 12 calls and executes the computer program, the four-way shuttle system scheduling method under the fusion of multiple business scenarios in any of the above embodiments is implemented.

[0048] The electronic device may be a computer or a server.

[0049] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0050] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0051] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0052] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0053] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0054] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0056] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A four-way shuttle system scheduling method under multi-business scenario integration, characterized in that: The scenario includes multi-layer shelves and only one elevator, and the number of four-way vehicles is less than the number of shelf layers; the method includes: Sort all pending tasks by priority, and take the task with the highest priority as the target task; According to the current position of the goods corresponding to the target task, request the four-way vehicle or elevator to perform the target task; When requesting a four-way vehicle to execute, determine whether there is an idle four-way vehicle in the task layer. If there is a four-way vehicle in the task layer and it is in an idle state, control the idle four-way vehicle to execute the target task. If there is a four-way vehicle in the task layer but it is not in an idle state, wait until it becomes idle, and then control the idle four-way vehicle to execute the target task. If there is no four-way vehicle in the task layer, wait until there is an idle four-way vehicle in other layers, and then control the corresponding idle four-way vehicle to execute the target task across layers. When requesting the elevator to execute, determine whether the elevator and the corresponding destination station are currently idle. If so, execute the target task through the elevator. Otherwise, continue to wait until the elevator and the corresponding destination station are idle, and then execute the target task through the elevator.

2. The method according to claim 1, characterized in that The scenario includes a bidirectional platform supporting outbound and inbound storage; the method further includes: switching the outbound and inbound storage status of the bidirectional platform according to the task to be executed, and executing the corresponding outbound task or inbound task; The process of executing the outbound task includes: Step 1: Get the current task list and check whether there is any outbound task to be executed. If yes, proceed to Step 2, otherwise release the outbound lock; Step 2: Check whether the destination platform of this outbound task is a two-way platform. If yes, proceed to Step 3. Otherwise, generate a path to execute the corresponding task. Step 3: Check the status of the current two-way platform. If it is neither locked for inbound nor locked for outbound and the platform is idle, first lock it for outbound, otherwise proceed to Step 4. Step 4: Check whether the current station has been locked for outbound delivery. If so, directly generate a path task for execution. Otherwise, continue to execute the judgment of Step 3 until outbound delivery can be locked. The process of executing the warehousing task includes: Step 5: Get the current task list and check whether there is any incoming task to be executed. If yes, proceed to Step 6 for judgment. Otherwise, release the outgoing task lock. Step 6: Check whether the destination platform of this warehousing task is a two-way platform. If yes, proceed to Step 7. Otherwise, generate a path to execute the corresponding task. Step 7: Check the status of the current two-way platform. If it is neither locked for inbound nor locked for outbound and the platform is idle, first lock it for inbound, otherwise proceed to Step 8. Step 8: Check whether the current station has been locked for storage. If it is, directly generate a path task for execution. Otherwise, continue to execute the judgment of Step 7 until it can be locked for storage.

3. The method according to claim 1, characterized in that Also includes: When executing a task through a four-way vehicle, determine whether there are other four-way vehicles on its current running path; If there are other four-way vehicles, determine whether the other four-way vehicles are in an idle state; If it is in an idle state, the idle four-way vehicle is controlled to move to a reasonable position to avoid obstacles; If it is not in idle state, obstacle avoidance is performed according to the set obstacle avoidance strategy based on the work tasks of the two four-way vehicles.

4. The method according to claim 3, characterized in that: The obstacle avoidance is performed according to the set obstacle avoidance strategy based on the work tasks of the two four-way vehicles, including: The distances between the two four-way vehicles and their respective nearest obstacle avoidance positions are determined, and the four-way vehicle with a shorter distance to the nearest obstacle avoidance position is controlled to move to the nearest obstacle avoidance position for obstacle avoidance.

5. The method according to claim 1, characterized in that When controlling the four-way vehicle to perform a target task, the method of generating a task path and avoiding obstacles during the task execution includes: Step 1: Calculate the optimal path for each four-way vehicle that currently has a task; Step 2: Execute the optimal path in sequence and determine whether the current path has conflicts. If there are no conflicts, execute directly. If there are conflicts, execute according to Step 3. Step 3: Find the obstacle avoidance position in the shelf, generate an obstacle avoidance path with the current coordinate point as the starting point and the obstacle avoidance position as the end point. After the obstacle avoidance is completed, generate a path with the current position as the starting point and the position before obstacle avoidance as the end point, and continue to run along the optimal path; Step 4: Continue to execute each path until all paths are completed.

6. The method according to claim 1, characterized in that When controlling the four-way vehicle to perform a target task, the method of generating a task path and avoiding obstacles during the task execution includes: Step 1: Calculate the optimal path for each four-way vehicle that currently has a task; Step 2: Execute the optimal path in sequence and determine whether the current path has conflicts. If there are no conflicts, execute directly. If there are conflicts, execute according to Step 3. Step 3: Determine whether the conflict point is a must-pass point for the two vehicles. If so, determine the distances from the two four-way vehicles to their respective nearest obstacle avoidance positions, and control the four-way vehicle with a closer distance to the nearest obstacle avoidance position to move to the nearest obstacle avoidance position for obstacle avoidance. If not, regenerate a path for vehicles at non-must-pass points for obstacle avoidance. Step 4: Continue to execute each path until all paths are completed.

7. The method according to claim 1, characterized in that Also includes: When multiple four-way vehicles request to use the same elevator at the same time, the elevator task request of one of the four-way vehicles is directly canceled, based on the principle that the destination floor of the elevator requested by the four-way vehicle at the same time cannot be the starting floor of the same elevator used by other four-way vehicles.

8. An electronic device, characterized in that: It includes a memory and a processor, the memory stores a computer program, and when the processor calls and executes the computer program, it implements the four-way shuttle system scheduling method under the fusion of multiple business scenarios as described in any one of claims 1 to 7.

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