Modular scheduling system and method for warehouse logistics elevator

Abstract

The invention discloses a modular scheduling system for warehouse logistics elevators, and the system comprises a scheduling controller which comprises a multi-machine centralized scheduling module, a plurality of single-machine scheduling modules and a mode switching module, the single-machine scheduling modules are connected with the multi-machine centralized scheduling module, the single-machine scheduling modules are used for single-machine floor task scheduling of one elevator, and the mode switching module is connected with the multi-machine centralized scheduling module; the single-machine scheduling module is used for sorting operation tasks, and the mode switching module is used for switching a single-machine scheduling mode and a multi-machine scheduling mode of the scheduling controller; and the enable signal output of the elevator controller is connected to the enable input end of the dispatching controller. The invention further discloses a modular scheduling method for the warehouse logistics elevator. The modular scheduling method comprises the following steps. Compared with the prior art, the problems that in an existing warehouse logistics elevator, multi-unit networking centralized dispatching cannot be achieved, and emergency operation tasks cannot be executed preferentially are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of warehousing logistics, and particularly relates to a modular scheduling system and method for a warehousing logistics elevator. Background Art

[0002] In a multi-story warehouse, the use of an elevator can shorten the time for cargo handling, achieve efficient vertical movement of goods in a short time, and thus significantly improve the overall operation efficiency of the warehouse.

[0003] Currently, there are mainly the following two main floor scheduling methods for warehousing logistics elevators:

[0004] 1. First come, first served. This method is basically used in a single-machine mode, that is, the scheduling is executed in sequence according to the request order of tasks on different floors. The disadvantage is that tasks with later requests have a long waiting time, and tasks that need to be executed urgently cannot be scheduled preferentially. This scheme is mostly used in small-scale warehousing logistics.

[0005] 2. Task centralized sorting and shortest path. The control system counts the number of requested tasks and the requested tasks on each floor, calculates according to the floor position where the current cargo compartment is located, calculates the operation time (path) of each requested task, and sorts them from short to long according to the task operation time (path). This method is currently mostly used in medium and large-scale warehousing logistics and is mainly in a single-machine mode. Such a method has significantly improved efficiency compared to the first one and is also fair. However, tasks that need to be executed urgently are still not scheduled preferentially, and it is also a single-machine solution, which cannot meet the requirement of further improving efficiency through centralized scheduling of multiple machines.

[0006] Therefore, the current scheduling schemes for warehousing logistics elevators on the market are all single-machine schemes. For some large-scale logistics warehousing projects, multi-machine networking and centralized scheduling cannot be achieved, resulting in inflexible allocation of transportation resources. And there is no preferential execution service under the single-machine scheme. For urgently needed operation tasks, they cannot be executed preferentially, or can only be achieved by opening a "green channel". Summary of the Invention

[0007] The purpose of the present invention is to provide a modular scheduling system and method for a warehousing logistics elevator to solve the problems that elevators in existing warehousing logistics cannot achieve multi-machine networking and centralized scheduling and cannot preferentially execute urgent operation tasks.

[0008] To achieve the above purpose, on the one hand, the present invention discloses a modular scheduling system for a warehousing logistics elevator, including:

[0009] A scheduling controller, which includes a multi-machine centralized scheduling module, several single-machine scheduling modules, and a mode switching module. The single-machine scheduling modules are connected to the multi-machine centralized scheduling module. The single-machine scheduling module is used for single-machine floor task scheduling of one elevator. The single-machine scheduling module is used for sorting job tasks. The mode switching module is used to switch between the single-machine scheduling mode and the multi-machine scheduling mode of the scheduling controller;

[0010] An elevator controller, whose enable signal output is connected to the enable input of the scheduling controller;

[0011] Among them, in the single-machine scheduling mode, the scheduling controller reads the job task data of a single elevator controller. The job task data includes floor mode values for hierarchical prioritization of floors. The floor mode values include a fixed floor mode and a takeover mode. For floors with at least one takeover mode in the job task data, the single-machine scheduling module performs an outer-layer priority calculation outside the scheduling pool, sorts them in the order of requests, and then outputs commands to the elevator controller to execute the job tasks for the corresponding floors. The remaining floors in the fixed floor mode enter the scheduling pool of the single-machine scheduling module for inner-layer priority scheduling calculation. After sorting through response rate traversal calculation, the elevator is commanded to execute the sorted jobs in sequence;

[0012] In the multi-machine scheduling mode, the scheduling controller reads the job task data of each elevator controller, calculates and processes to obtain the task strings of each elevator, statistically obtains the initial single-machine scheduling task set. The multi-machine centralized scheduling module in the scheduling controller records the requested tasks of each floor of each elevator, calculates by the scheduling function, and realizes one round of scheduling allocation in one traversal cycle; after completing the previous round of scheduling allocation, the allocated tasks are cancelled, and the multi-machine centralized scheduling module loops to execute the next periodic traversal calculation.

[0013] As a further description of the above technical solution:

[0014] The scheduling controller is networked with the elevator controllers of multiple elevators through an Ethernet switch or a serial bus protocol. The industrial Ethernet protocols supported by the scheduling controller include EtherCAT, PROFINET, EtherNet / IP, Modbus TCP / IP... etc. Under the requirement of multi-machine centralized control, networking can be achieved through an industrial Ethernet switch and each elevator. The serial bus protocols include CAN, ModbusRTU, etc. Specifically, for the hardware connection network topology of the modular scheduling system, reference can be made to Figure 2-4 .

[0015] On the other hand, the present invention also discloses a modular scheduling method for a warehousing and logistics elevator, including the following steps:

[0016] S1. The scheduling controller switches to the single-machine scheduling mode through the mode switching module;

[0017] S2. The scheduling controller reads the operation task data of a single elevator. The operation task data includes a floor mode value, a floor incoming layer value (i.e., floor value), a floor outgoing destination layer value, a floor fault value, and the current floor position value of the elevator. The floor mode value includes a fixed floor mode and a takeover mode;

[0018] S3. The scheduling controller performs calculation and processing on the read operation task data. The single - machine scheduling module sorts the operation tasks of the elevator to obtain a task string, and sends the incoming floor value and the outgoing floor value of the sorted task string to the corresponding elevator controller;

[0019] S4. The elevator controller receives the sorted task string, sequentially executes the operation tasks, and returns the incoming layer value, the outgoing layer value of the current operation task, and the current operation task status value to the scheduling controller;

[0020] S5. At the end of a scheduling cycle composed of steps S2 - S4, the scheduling controller cyclically calculates the operation task data read in the next scheduling cycle;

[0021] S6. The scheduling controller switches to the multi - machine scheduling mode through the mode switching module;

[0022] S7. The scheduling controller reads the operation task data of each elevator controller. After calculation and processing as in steps S2 - S3 above, it obtains the task strings of each elevator, and statistically obtains the initial single - machine scheduling task set;

[0023] S8. The multi - machine centralized scheduling module in the scheduling controller records the requested tasks of each elevator on each floor, calculates through the scheduling function, and realizes one - round scheduling allocation in one traversal cycle;

[0024] S9. After completing the previous round of scheduling allocation, the allocated tasks are cancelled, and the multi - machine centralized scheduling module cyclically executes the next periodic traversal calculation.

[0025] As a further description of the above technical solution:

[0026] In step S3, the scheduling controller reads the operation task data of a single elevator controller. For floors with at least one takeover mode in the operation task data, the single - machine scheduling module of the scheduling controller performs outer - layer priority calculation outside the scheduling pool, sorts according to the request order, and outputs a command to the elevator controller to execute the operation tasks of the corresponding floors. The remaining floors in the fixed floor mode enter the scheduling pool of the single - machine scheduling module for inner - layer priority scheduling calculation. After sorting through response rate traversal calculation, the elevator is commanded to sequentially execute the sorted operations.

[0027] As a further description of the above technical solution:

[0028] In step S4, the scheduling controller and the lift controller cancel the numbering of the completed job tasks. After all the job tasks of the lift are completed, the scheduling pool in the single-machine scheduling module is cleared.

[0029] As a further description of the above technical solution:

[0030] In step S8, the format of the scheduling function is as follows:

[0031] S T = λ1 * M1 + λ2 * M2 + λ3 * M3 (1)

[0032] where, M1: a function of the average waiting time of the goods outside the floor for the car;

[0033] M2: a function of the time during the goods transportation process;

[0034] M3: an evaluation function of the energy consumption of the lift;

[0035] λ1: the weight coefficient of M1;

[0036] λ2: the weight coefficient of M2;

[0037] λ3: the weight coefficient of M3;

[0038] The format of the M1 function is:

[0039] M1 = T RUN + T STOP = T r * N r + T s * N s

[0040] where, T RUN : the time for the car to run to this floor;

[0041] T STOP : the time for the car to dock for loading and unloading at this floor;

[0042] T r : the average time for the lift to run one floor;

[0043] N r : the number of floors passed by the lift;

[0044] T s : the average time for the car to dock for loading and unloading at each floor;

[0045] N s : the number of floors to pass through to reach the destination floor;

[0046] The format of the M2 function is:

[0047] M2 = TRUN +T STOP = T * N r +T s * N s

[0048] Wherein, T r : The running time of the cargo compartment from loading the goods to the destination floor;

[0049] N r : The number of floors to pass through from this floor to the farthest floor in the same direction as the destination floor;

[0050] T s : The time period from when the elevator door opens to when it closes;

[0051] N s : The number of floors the elevator has to pass through to reach this floor;

[0052] The format of the M3 function is:

[0053] M3 = C START * N S = T r + C r * N r

[0054] Wherein, C START : The start-stop energy consumption (including starting, accelerating, decelerating, opening and closing the door);

[0055] N S : The number of floors the elevator has to make expected stops in response to the request task on this floor;

[0056] C r : The running energy consumption (the average energy consumption per floor passed through);

[0057] N r : The number of floors the elevator has to pass through to reach the destination floor.

[0058] As a further description of the above technical solution:

[0059] In step S8, the scheduling function is extremized to obtain a second scheduling function, and the format of the second scheduling function is as follows:

[0060] S T = λ1 * (M1 / MAX M1 ) + λ2 * (M2 / MAX M2 ) + λ3 * (M3 / MAX M3 ) (2)

[0061] Wherein, MAX M1 ): The longest waiting time function for the goods outside the floor (in the case where the cargo compartment is farthest from this floor);

[0062] MAX M2 : The longest time function for goods transportation (when the destination floor is the floor farthest from this floor);

[0063] MAX M3 : The evaluation function with the maximum energy consumption for the elevator to complete this operation (when the positive amplitude of energy consumption is the largest and the time is the most persistent);

[0064] During one traversal period, according to the positions of the carriages of each elevator relative to each floor task to be scheduled, calculate the scheduling function values S of these tasks through the second scheduling function T_h-i-j :

[0065] Among them, h represents the h# elevator carriage; (h ∈ {CAR1, CAR2, CAR3,..., CAR N})

[0066] i and j respectively represent the jth floor task of the i# elevator;

[0067] After calculation in this traversal period, the best scheduling set for this round is obtained:

[0068] S K = {S k 1, S k 2, S k 3,..., S k N,}

[0069] S k N indicates that it is the most efficient (or the most energy-saving) for the carriage n to execute a certain task of the N# elevator.

[0070] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0071] 1. In the present invention, in the case of multi-machine operation of storage and logistics elevators in medium and large-scale logistics storage occasions, the operation tasks can be centrally scheduled, and the floor tasks can be flexibly allocated to the designated elevators, improving the transportation efficiency, and can also achieve dedicated machine use according to the determination of the priority of the scheduling operation tasks.

[0072] 2. In the present invention, the scheduling system is modularly designed, can be flexibly networked and automatically identified, the operation task mode has priority stratification, and the operation execution ratio is sorted and calculated, and the applicable scope covers single-machine floor operation scheduling and multi-machine floor operation centralized scheduling. Brief Description of the Drawings

[0073] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0074] Figure 1 It is an architecture diagram of a modular scheduling system for a warehousing logistics elevator.

[0075] Figure 2 It is an Ethernet communication topology connection diagram of a modular scheduling system for a warehousing logistics elevator.

[0076] Figure 3 It is an RS485 bus communication topology connection diagram of a modular scheduling system for a warehousing logistics elevator.

[0077] Figure 4 It is a CAN bus communication topology connection diagram of a modular scheduling system for a warehousing logistics elevator.

[0078] Figure 5 It is an architecture diagram of a single-machine floor task scheduling for a modular scheduling system of a warehousing logistics elevator.

[0079] Figure 6 It is a flowchart of a single-machine floor task scheduling for a modular scheduling system of a warehousing logistics elevator.

[0080] Figure 7 It is a flowchart of a multi-machine floor task scheduling for a modular scheduling system of a warehousing logistics elevator. Detailed implementation manners

[0081] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0082] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0083] Please refer to Figure 1-7, on the one hand, the present invention discloses a modular scheduling system for a warehousing logistics elevator, including:

[0084] A scheduling controller, which includes a multi-machine centralized scheduling module, a number of single-machine scheduling modules and a mode switching module. The single-machine scheduling modules are connected to the multi-machine centralized scheduling module. The single-machine scheduling module is used for the single-machine floor task scheduling of one elevator. The single-machine scheduling module is used for sorting the operation tasks. The mode switching module is used to switch between the single-machine scheduling mode and the multi-machine scheduling mode of the scheduling controller;

[0085] An elevator controller, whose enable signal output is connected to the enable input terminal of the scheduling controller;

[0086] Among them, in the single-machine scheduling mode, the scheduling controller reads the operation task data of a single elevator controller. The operation task data includes floor mode values for hierarchical prioritization of floors. The floor mode values include a fixed floor mode and a takeover mode. For floors with at least one takeover mode in the operation task data, the single-machine scheduling module performs an outer layer priority calculation outside the scheduling pool, sorts them in the order of requests, and then outputs commands to the elevator controller to execute the operation tasks of the corresponding floors. The remaining floors in the fixed floor mode enter the scheduling pool of the single-machine scheduling module for inner layer priority scheduling calculation. After calculating and sorting through the response rate, the elevator is commanded to execute the sorted operations in sequence;

[0087] In the multi-machine scheduling mode, the scheduling controller reads the operation task data of each elevator controller, calculates and processes to obtain the task strings of each elevator, statistically obtains the initial single-machine scheduling task set. The multi-machine centralized scheduling module in the scheduling controller records the requested tasks of each floor of each elevator, calculates by the scheduling function, and realizes one round of scheduling allocation in one traversal cycle; after completing the previous round of scheduling allocation, the allocated tasks are cancelled, and the multi-machine centralized scheduling module loops to execute the next periodic traversal calculation.

[0088] On the other hand, the present invention also discloses a modular scheduling method for a warehousing logistics elevator, including the following steps:

[0089] S1. The scheduling controller switches to the single-machine scheduling mode through the mode switching module;

[0090] S2. The scheduling controller reads the operation task data of a single elevator. The operation task data includes floor mode values, floor incoming layer values (i.e., floor values), floor outgoing destination layer values, floor fault values and the current floor position value of the elevator. The floor mode values include a fixed floor mode and a takeover mode;

[0091] S3. The scheduling controller performs calculation and processing on the read job task data. The single-machine scheduling module sorts the job tasks of the elevator to obtain a task string, and sends the incoming floor value and outgoing floor value of the sorted task string to the corresponding elevator controller.

[0092] S4. The elevator controller receives the sorted task string, sequentially executes the job tasks, and returns the incoming floor value, outgoing floor value, and current job task status value of the current job task to the scheduling controller.

[0093] S5. At the end of a scheduling cycle composed of steps S2 - S4, the scheduling controller cyclically calculates the job task data read in the next scheduling cycle.

[0094] S6. The scheduling controller switches to the multi-machine scheduling mode through the mode switching module.

[0095] S7. The scheduling controller reads the job task data of each elevator controller, and after calculation and processing as in S2 - S3 above, obtains the task strings of each elevator, and statistically obtains the initial single-machine scheduling task set.

[0096] S8. The multi-machine centralized scheduling module in the scheduling controller records the requested tasks of each floor of each elevator, and calculates through the scheduling function to achieve one round of scheduling allocation in one traversal cycle.

[0097] S9. After completing the previous round of scheduling allocation, the allocated tasks are cancelled, and the multi-machine centralized scheduling module cyclically executes the next periodic traversal calculation.

[0098] Working principle: In the case of multi-machine operation of warehousing and logistics elevators in medium and large-scale logistics warehousing scenarios, job tasks can be centrally scheduled, and floor tasks can be flexibly allocated to designated elevators, improving transportation efficiency. It can also achieve dedicated machine use according to the priority determination of scheduling job tasks. The modular design of the scheduling system enables flexible networking and automatic identification, hierarchical priority of job task modes, and sorting calculation of job execution ratios, covering the scope of single-machine floor operation scheduling and multi-machine floor operation centralized scheduling.

[0099] The scheduling method is implemented through hardware + software. The hardware is a scheduling controller connected to the elevator controller through Ethernet (or serial bus). The software refers to the scheduling program stored in the scheduling controller. This solution can achieve single-machine floor operation scheduling and multi-machine floor operation centralized scheduling.

[0100] The building process of the modular scheduling system is as follows:

[0101] 1) Each elevator controller is sequentially assigned a communication station number, that is, the communication physical address. For example:

[0102] The station number of Elevator 1 = 1,

[0103] The station number of Lift 2 = 2,

[0104] ……,

[0105] The station number of Lift N = N.

[0106] 2) The enable signal of the lift controller is sequentially connected to the function input port of the dispatching controller:

[0107] Lift 1 is connected to the function input terminal I1 of the dispatching controller,

[0108] Lift 2 is connected to the function input terminal I2 of the dispatching controller,

[0109] ……,

[0110] Lift N is connected to the function input terminal IN of the dispatching controller.

[0111] 3) Inside the dispatching controller, after signal address decoding, it automatically identifies the enabled lift station numbers and performs data reading and writing on the enabled lifts.

[0112] In step 3), the data reading and writing method of the dispatching controller for the lifts is based on the networking method. If Ethernet communication is used, the clustered frame method is used; if CAN bus communication is used, the multi-master control method is used; if Modbus bus is used, the master-slave polling method is used).

[0113] The data content to be processed is shown in Table 1.

[0114] Table 1: Data that should be exchanged between a single unit (each lift) and the controller

[0115]

[0116]

[0117] I. Single-unit floor task scheduling (for the model structure, see Figure 5 , and the dispatching controller port is set to the single-unit scheduling state)

[0118] 1. The dispatching controller reads the floor mode values (classified by priority into: fixed floor mode or takeover mode), floor inbound layer values (i.e., floor values), floor outbound destination layer values, floor fault values, current floor position values of the lifts, etc. from each lift controller.

[0119] 2. The dispatching controller calculates and processes the read data, obtains the operation tasks of each lift and stores them in the corresponding "dispatching pool" (each lift operation task is assigned a "dispatching pool"), and sends the inbound floor value and outbound floor value of the sorted task string to the corresponding lift controller. There is an information display at each floor to prompt the outbound floor of the operation task on this floor.

[0120] Computing processing means: the scheduling function performs periodic calculations according to the floor mode. If there is ≥1 floor in the takeover mode, after calculating through the outer layer priority, the elevator is commanded to execute the operation tasks corresponding to the floors; if each floor is in the fixed floor mode, it enters the inner layer priority scheduling calculation, and after traversing and sorting, the elevator is commanded to execute the sorting operations in sequence.

[0121] Note: Refer to Table 2 for the inner layer priority scheduling calculation.

[0122] 3. After each elevator controller receives the task command, it executes its respective operation tasks in sequence, and returns the incoming floor value, outgoing floor value, and the current operation task status value of the current operation task to the scheduling controller. The scheduling controller and the elevator controller cancel the numbers for the completed operations. After all the operation tasks of each elevator are completed, the "scheduling pool" is "cleared".

[0123] The above items 1 to 3 are one scheduling cycle.

[0124] 4. The scheduling controller calculates the tasks read in the next scheduling cycle in a loop.

[0125] The basic process mode of single-machine floor task scheduling is shown in Figure 6 。

[0126] Table 2: Single-machine fixed floor mode scheduling

[0127]

[0128]

[0129]

[0130]

[0131] II. Multi-machine floor task centralized scheduling (the scheduling controller port is set to the centralized scheduling state)

[0132] 1. Scheduling system initialization

[0133] The scheduling controller respectively counts the floor tasks (fixed floor mode) of each enabled elevator according to the single-machine floor task scheduling method, and obtains the initial single-machine scheduling task set.

[0134] Elevator 1#: {T11, T12, T13, T14, T15,..., T1n};

[0135] Elevator 2#: {T21, T22, T23, T24, T25,..., T2n};

[0136] ...

[0137] Lift m#: {Tm1, Tm2, Tm3, Tm4, Tm5, ……, Tmn};

[0138] Among them, the job floor codes corresponding to the scheduling tasks of each lift are shown in Table 3:

[0139] Table 3: Definition of Lift Scheduling Task Floor Codes

[0140]

[0141]

[0142] 2. The system records the request tasks of each lift on each floor and calculates them by the scheduling function.

[0143] The format of the scheduling function is as follows:

[0144] S T = λ1 * M1 + λ2 * M2 + λ3 * M3 (1)

[0145] Among them, M1: The function of the average waiting time of goods outside the floor for the cargo compartment;

[0146] M2: The function of the goods transportation process time;

[0147] M3: The evaluation function of the energy consumption of the lift;

[0148] λ1: The weight coefficient of M1;

[0149] λ2: The weight coefficient of M2;

[0150] λ3: The weight coefficient of M3 (0 ≤ λ1 ≤ 1, 0 ≤ λ2 ≤ 1, 0 ≤ λ3 ≤ 1, and );

[0151] When different values of λ are selected, it represents different emphasis ratios of the above three functions. For example: when the weights of M1 and M2 are relatively large, it is generally applied during the transportation peak. Such a scheduling scheme can effectively reduce the goods waiting time and the goods transportation time, and place energy conservation in an auxiliary position, emphasizing efficiency; when the weight of M3 is relatively large, it is generally applied during idle time. At this time, with sufficient time, it can save a part of energy for the equipment, emphasizing energy conservation.

[0152] Function rule: The smaller the ST value, the better the scheduling scheme.

[0153] The format of the M1 function is:

[0154] M1 = T RUN + T STOP = T r * N r + Ts *N s

[0155] Among them, T RUN : The time when the cargo compartment runs to this floor;

[0156] T STOP : The time when the cargo compartment stops for discharging goods on this floor;

[0157] T r : The average time for the elevator to run one floor;

[0158] N r : The number of floors passed by the elevator;

[0159] T s : The average time for the cargo compartment to stop for discharging goods on each floor;

[0160] N s : The number of floors to pass through to reach the destination floor;

[0161] The format of the M2 function is:

[0162] M2 = T RUN + T STOP = T * N r + T s * N s

[0163] Among them, Tr: The running time of the cargo compartment from loading the goods to the destination floor;

[0164] N r : The number of floors to pass through from this floor to the farthest floor in the same direction as the destination floor;

[0165] T s : The time period from when the elevator door opens to when it closes;

[0166] N s : The number of floors the elevator has to pass through to reach this floor;

[0167] The format of the M3 function is:

[0168] M3 = C START * N S = T r + C r * N r

[0169] Among them, C START : Start - stop energy consumption (including starting, accelerating, decelerating, opening and closing the door);

[0170] N S : The number of floors for the elevator to make expected stops in response to the request task on this floor;

[0171] C r : Operating energy consumption (average energy consumption per floor passed).

[0172] N r : Number of floors the elevator has to pass through to reach the destination floor.

[0173] The scheduling function (Function 1) only considers the variable relationships of the functions and does not consider the overall relationships such as unit conversion between each other as evaluation indicators. For example, time and energy consumption belong to different dimensions and need to be processed by the extreme value method as follows:

[0174] ST = λ1 * (M1 / MAX M1 ) + λ2 * (M2 / MAX M2 ) + λ3 * (M3 / MAX M3 ) (2)

[0175] Where, MAX M1 ): Function of the longest waiting time of the goods outside the floor (in the case where the car is farthest from this floor);

[0176] MAX M2 : Function of the longest transportation time of the goods (in the case where the destination floor is the floor farthest from this floor);

[0177] MAX M3 : Evaluation function of the maximum energy consumption for the elevator to complete this operation (in the case where the positive amplitude of energy consumption is the largest and the time is the longest);

[0178] Through this periodic traversal calculation, the optimal scheduling is obtained as:

[0179] SK = min{Sk1, Sk2, Sk3,..., Skn,}.

[0180] Taking a traversal period as an example.

[0181] The carriages of the elevators participating in the scheduling are respectively defined as:

[0182] Carriage of Elevator No. 1: CAR1;

[0183] Carriage of Elevator No. 2: CAR2;

[0184] Carriage of Elevator No. 3: CAR3;

[0185] ...

[0186] Carriage number of Elevator No. n: CARN;

[0187] According to the positions of each elevator carriage relative to each floor task to be scheduled, calculate the scheduling function values S of these tasks through the scheduling function (Function 2) T_h-i-j:

[0188] Among them, h represents the h# lift car; (h ∈ {CAR1, CAR2, CAR3, ……, CAR N [[ID=5}]})

[0189] i and j respectively represent the jth floor task of the ith lift.

[0190] Table 4: Scheduling function values

[0191]

[0192]

[0193] After this traversal cycle calculation, the best scheduling set for this round is obtained:

[0194] SK = {Sk1, Sk2, Sk3, ……, SkN,}

[0195] Where:

[0196] Sk1 means that it is the fastest (or most energy-efficient) for car a to execute a certain task of the 1# lift;

[0197] a ∈ {a, b, c, …, n}

[0198] Sk2 means that it is the fastest (or most energy-efficient) for car b to execute a certain task of the 2# lift;

[0199] b ∈ {b, c, …, n}

[0200] Sk3 means that it is the fastest (or most energy-efficient) for car c to execute a certain task of the 3# lift;

[0201] c ∈ {c, …, n}

[0202] ……

[0203] SkN means that it is the fastest (or most energy-efficient) for car n to execute a certain task of the N# lift.

[0204] n ∈ {n}

[0205] That is:

[0206] S k 1 = min{S’ k_1-1 , S’ k_2-1 , S’ k_3-1 , …, S’ k_N-1 , S” k_1-1 , S” k_1-2 , S” k_1-3 , …, S” k_1-n};

[0207] Sk2 = min{S’k_1 - 2, S’k_2 - 2, S’k_3 - 2, …, S’k_N - 2, S”k_2 - 1, S”k_2 - 2, S”k_2 - 3, …, S”k_2 - n}; Sk3 = min{S’k_1 - 3, S’k_2 - 3, S’k_3 - 3, …, S’k_N - 3, S”k_3 - 1, S”k_3 - 2, S”k_3 - 3, …, S”k_3 - n};

[0208] ……SkN = min{S’k_1 - N, S’k_2 - N, S’k_3 - N, …, S’k_N - N, S”k_N - 1, S”k_N - 2, S”k_N - 3, …, S”k_N - n};

[0209] Among them: -----------------------------------------------------------------------------

[0211] S’k_1 - 1 = min{ST_1 - 1 - 1, ST_1 - 1 - 2, ST_1 - 1 - 3, ..., ST_1 - 1 - n};

[0212] S’k_2 - 1 = min{ST_2 - 1 - 1, ST_2 - 1 - 2, ST_2 - 1 - 3, ..., ST_2 - 1 - n};

[0213] S’k_3 - 1 = min{ST_3 - 1 - 1, ST_3 - 1 - 2, ST_3 - 1 - 3, ..., ST_3 - 1 - n};

[0214] ……

[0215] S’k_N - 1 = min{ST_N - 1 - 1, ST_N - 1 - 2, ST_N - 1 - 3, …, ST_N - 1 - n};

[0216] S”k_1 - 1 = min{ST_1 - 1 - 1, ST_2 - 1 - 1, ST_3 - 1 - 1, ..., ST_N - 1 - 1};

[0217] S”k_1 - 2 = min{ST_1 - 1 - 2, ST_2 - 1 - 2, ST_3 - 1 - 2, ..., ST_N - 1 - 2};

[0218] S”k_1 - 3 = min{ST_1 - 1 - 3, ST_2 - 1 - 3, ST_3 - 1 - 3, ..., ST_N - 1 - 3};

[0219] S”k_1 - n = min{ST_1 - 1 - n, ST_2 - 1 - n, ST_3 - 1 - n,..., ST_N - 1 - n}; -----------------------------------------------------------------------------

[0221] S’k_1 - 2 = min{ST_1 - 2 - 1, ST_1 - 2 - 2, ST_1 - 2 - 3,..., ST_1 - 2 - n};

[0222] S’k_2 - 2 = min{ST_2 - 2 - 1, ST_2 - 2 - 2, ST_2 - 2 - 3,..., ST_2 - 2 - n};

[0223] S’k_3 - 2 = min{ST_3 - 2 - 1, ST_3 - 2 - 2, ST_3 - 2 - 3,..., ST_3 - 2 - n};

[0224] ……

[0225] S’k_N - 1 = min{ST_N - 2 - 1, ST_N - 2 - 2, ST_N - 2 - 3,…, ST_N - 2 - n};

[0226] S”k_2 - 1 = min{ST_1 - 2 - 1, ST_2 - 2 - 1, ST_3 - 2 - 1,..., ST_N - 2 - 1};

[0227] S”k_2 - 2 = min{ST_1 - 2 - 2, ST_2 - 2 - 2, ST_3 - 2 - 2,..., ST_N - 2 - 2};

[0228] S”k_2 - 3 = min{ST_1 - 2 - 3, ST_2 - 2 - 3, ST_3 - 2 - 3,..., ST_N - 2 - 3};

[0229] ……

[0230] S”k_2 - n = min{ST_1 - 2 - n, ST_2 - 2 - n, ST_3 - 2 - n,..., ST_N - 2 - n}; -----------------------------------------------------------------------------

[0232] S’k_1 - 3 = min{ST_1 - 3 - 1, ST_1 - 3 - 2, ST_1 - 3 - 3,..., ST_1 - 3 - n};

[0233] S’k_2-3 = min{ST_2-3-1, ST_2-3-2, ST_2-3-3, …, ST_2-3-n};

[0234] S’k_3-3 = min{ST_3-3-1, ST_3-3-2, ST_3-3-3, ..., ST_3-3-n};

[0235] ……

[0236] S’k_N-3 = min{ST_N-3-1, ST_N-3-2, ST_N-3-3, ..., ST_N-3-n};

[0237] S”k_3-1 = min{ST_1-3-1, ST_2-3-1, ST_3-3-1, ..., ST_N-3-1};

[0238] S”k_3-2 = min{ST_1-3-2, ST_2-3-2, ST_3-3-2, ..., ST_N-3-2};

[0239] S”k_3-3 = min{ST_1-3-3, ST_2-3-3, ST_3-3-3, ..., ST_N-3-3};

[0240] ……

[0241] S”k_3-n = min{ST_1-3-n, ST_2-3-n, ST_3-3-n, ..., ST_N-3-n};-----------------------------------------------------------------------------

[0243] ……

[0244] S’k_1-N = min{ST_1-N-1, ST_1-N-2, ST_1-N-3, ..., ST_1-N-n};

[0245] S’k_2-N = min{ST_2-N-1, ST_2-N-2, ST_2-N-3, …, ST_2-N-n};

[0246] S’k_3-N = min{ST_3-N-1, ST_3-N-2, ST_3-N-3, …, ST_3-N-n};

[0247] ……

[0248] S’k_N-N = min{ST_N-N-1, ST_N-N-2, ST_N-N-3, …, ST_N-N-n};

[0249] S”k_N-1 = min{ST_1-N-1, ST_2-N-1, ST_3-N-1, ..., ST_N-N-1};

[0250] S”k_N-2 = min{ST_1-N-2, ST_2-N-2, ST_3-N-2, ..., ST_N-N-2};

[0251] S”k_N-3 = min{ST_1-N-3, ST_2-N-3, ST_3-N-3, ..., ST_N-N-3};

[0252] ……

[0253] S”k_N-n = min{ST_1-N-n, ST_2-N-n, ST_3-N-n, ..., ST_N-N-n};

[0254] In this way, one traversal period realizes one round of scheduling allocation.

[0255] 3. After completing the previous round of scheduling allocation, the allocated tasks are cancelled, and the system loops to execute the next periodic traversal calculation (scheduling the unallocated tasks).

[0256] The basic process mode of centralized scheduling for multi-machine floor tasks is shown in Figure 7 .

[0257] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A modular dispatching system for warehouse logistics elevators, characterized in that: include: A dispatching controller, which includes a multi-machine centralized dispatching module, a plurality of single-machine dispatching modules and a mode switching module. The single-machine dispatching module is connected to the multi-machine centralized dispatching module. The single-machine dispatching module is used for single-machine floor task dispatching of an elevator. The single-machine dispatching module is used for sorting job tasks. The mode switching module is used for switching the single-machine dispatching mode and the multi-machine dispatching mode of the dispatching controller. An elevator controller, whose enable signal output is connected to the enable input terminal of the dispatch controller; Among them, in the stand-alone scheduling mode, the scheduling controller reads the job task data of a single elevator controller, the job task data includes a floor mode value for priority stratification of floors, and the floor mode value includes a fixed-layer mode and a takeover mode. For floors with at least one takeover mode in the job task data, the stand-alone scheduling module performs outer priority calculation outside the scheduling pool, sorts them according to the request order, and outputs commands to the elevator controller to execute the job tasks of the corresponding floors. The remaining fixed-layer mode floors enter the scheduling pool of the stand-alone scheduling module for inner priority scheduling calculation. After sorting by response rate traversal calculation, the elevator is commanded to execute the sorting operations in sequence. In the multi-machine scheduling mode, the scheduling controller reads the operation task data of each elevator controller, calculates and processes the task string of each elevator, and statistically obtains the initial scheduling task set of a single machine. The multi-machine centralized scheduling module in the scheduling controller records the requested tasks of each elevator on each floor, which are calculated by the scheduling function, and one traversal cycle realizes one round of scheduling allocation; after completing the previous round of scheduling allocation, the allocated tasks are cancelled, and the multi-machine centralized scheduling module cyclically executes the next periodic traversal calculation.

2. A modular dispatching system for a warehouse logistics elevator according to claim 1, characterized in that: The dispatching controller is networked with the elevator controllers of multiple elevators through an Ethernet switch or a serial bus protocol.

3. A modular scheduling method for warehouse logistics elevators, characterized in that: The following steps are involved: S1, the dispatch controller switches to the single-machine dispatch mode through the mode switching module; S2. The dispatch controller reads the operation task data of a single elevator. The operation task data includes the floor mode value, the floor receiving floor value, the floor shipping destination floor value, the floor fault value and the current floor position value of the elevator. The floor mode value includes the fixed floor mode and the takeover mode. S3, the dispatch controller calculates and processes the read operation task data, and the single-machine dispatch module sorts the operation tasks of the elevator to obtain a task string, and sends the incoming floor value and the outgoing floor value of the sorted task string to the corresponding elevator controller; S4, the elevator controller receives the sorted task string, executes the task in sequence, and returns the incoming layer value and the outgoing layer value of the current task and the current task status value to the scheduling controller; S5, when a scheduling cycle formed by steps S2-S4 ends, the scheduling controller cyclically calculates the job task data read in the next scheduling cycle; S6, the dispatching controller switches to the multi-machine dispatching mode through the mode switching module; S7, the dispatching controller reads the operation task data of each elevator controller, obtains the task string of each elevator through the calculation and processing as in S2-S3 above, and obtains the initial dispatching task set of a single machine by statistics; S8, the multi-machine centralized scheduling module in the scheduling controller records the request tasks of each elevator on each floor, which are calculated by the scheduling function, and one round of scheduling allocation is realized in one traversal cycle; S9. After completing the last round of scheduling and allocation, the allocated tasks are cancelled, and the multi-machine centralized scheduling module cyclically executes the next periodic traversal calculation.

4. A modular scheduling method for a warehouse logistics elevator according to claim 3, characterized in that: In step S3, the scheduling controller reads the job task data of a single elevator controller. For floors with at least one takeover mode in the job task data, the single-machine scheduling module of the scheduling controller performs outer priority calculations outside the scheduling pool, sorts them in the order of request, and outputs commands to the elevator controller to execute the job tasks of the corresponding floors. The remaining floors in the fixed-layer mode enter the scheduling pool of the single-machine scheduling module for inner priority scheduling calculations. After sorting by response rate traversal calculation, the elevator is commanded to execute the sorting operations in sequence.

5. A modular scheduling method for a warehouse logistics elevator according to claim 3, characterized in that: In step S4, the scheduling controller and the elevator controller cancel the completed work tasks. After all the work tasks of the elevator are completed, the scheduling pool in the single-machine scheduling module is cleared.

6. A modular scheduling method for a warehouse logistics elevator according to claim 3, characterized in that: In step S8, the scheduling function format is as follows: S T =λ1*M1+λ2*M2+λ3*M3(1) Wherein, M1: the function of the average waiting time of cargo outside the layer for the cargo compartment; M2: Function of cargo transportation process time; M3: evaluation function of lift energy consumption; λ1: weight coefficient of M1; λ2: weight coefficient of M2; λ3: weight coefficient of M3; The format of the M1 function is: M1=T RUN +T STOP =T r *N r +T s *N s Among them, T RUN : The time it takes for the cargo compartment to run to this floor; T STOP : The time when the cargo compartment stops at this floor to ship goods; T r : The average time it takes for the elevator to travel one floor; N r : The number of floors the elevator passes through; T s : The average time for the cargo compartment to stop at each level for delivery; N s : The number of floors to pass to reach the destination floor; The format of the M2 function is: M2=T RUN +T STOP =T*N r +T s *N s Where, Tr: the running time of the cargo compartment from loading the cargo to the destination floor; N r : The number of floors to be passed from the current floor to the farthest floor in the same direction as the destination floor; T s : The time period from the elevator door opening to the door closing; N s : The number of floors the elevator must pass through to reach this floor; The format of the M3 function is: M3=C START *N S =T r +C r *N r Among them, C START : Start-stop energy consumption; N S : The number of floors where the elevator is expected to stop in response to the request task of this floor; C r : Operation energy consumption; N r : The number of floors the elevator must pass through to reach the destination floor.

7. A modular dispatching method for a warehouse logistics elevator according to claim 6, characterized in that: In step S8, the scheduling function is subjected to extreme value processing to obtain a second scheduling function, and the format of the second scheduling function is as follows: S T =λ1*(M1 / MAX M1 )+λ2*(M2 / MAX M2 )+λ3*(M3 / MAX M3 ) (2) Among them, MAX M1 ): The maximum waiting time function of goods outside the layer; MAX M2 : Maximum time function for cargo transportation; MAX M3 : The evaluation function of the maximum energy consumption of the elevator to complete this operation; In one traversal cycle, according to the position of each elevator cargo compartment relative to each floor task to be scheduled, the scheduling function value S of these tasks is calculated by the second scheduling function T_h-i-j : Wherein, h represents the cargo compartment of the h#th elevator; i and j represent the j-th floor task of elevator #i, respectively; After this traversal cycle calculation, the best scheduling set for this round is obtained: S K ={S k 1,S k 2,S k 3,……,S k N,} S k N means that it is most efficient for cargo compartment n to perform a certain task of elevator N#.

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