Scheduling method, seeding wall system and computer storage medium

Abstract

The invention discloses a scheduling method, a seeding wall system and a computer storage medium, and the scheduling method comprises the steps: obtaining the order information of a target object, and determining a target grid matched with the target object based on the order information; a transport trolley matched with the target object is determined, the transport trolley is driven to move to a loading position, and the loading position corresponds to the conveying device; determining that the transport trolley is located at the loading position, driving the conveying part and the transmission part to synchronously convey the target object to the transport trolley, and determining that the target object is located on the transport trolley; determining a lattice falling strategy based on the position of the target lattice in the goods shelf; and according to the lattice falling strategy, the conveying trolley is driven to move to the lattice falling position, the conveying part is driven to convey the target object to the target lattice opening, and the lattice falling position corresponds to the target lattice opening. The sorting speed can be increased, the sorting process can be optimized, and the sorting efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to a scheduling method, a seed wall system and a computer storage medium. Background Art

[0002] In recent years, with the rapid development of intelligent manufacturing enterprises, the application and management of logistics systems have become increasingly important. Among them, the transport vehicles used in material warehouses, such as RGV (Rail Guided Vehicle), can realize the transportation of logistics, but the path planning and task scheduling technology involved in multiple RGVs is a key factor affecting the current sorting efficiency.

[0003] However, the current solutions have many shortcomings, such as: 1) The scheduling tasks are not combined with the real-time needs of the production execution system and cannot be interconnected with on-site equipment; 2) It is unable to effectively cope with complex scheduling tasks and implement dynamic scheduling in the process, which is prone to deadlock or no-load conditions and low handling efficiency; 3) The current path planning algorithm usually plans the shortest storage and retrieval path for a single RGV vehicle, rather than considering the status of each RGV vehicle from a global perspective. When multiple RGV vehicles work together, congestion often occurs.

[0004] Therefore, there is an urgent need for a scheduling method and a seed wall system that can achieve real-time docking with the production execution system, support dynamic scheduling of complex scheduling tasks, improve handling efficiency, avoid deadlock and no-load conditions, and optimize the path planning of multiple RGV vehicles from a global perspective to avoid congestion, thereby meeting the needs of efficient scheduling. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing seed wall scheduling method cannot realize dynamic scheduling during the process and the sorting efficiency is low. The present invention provides a scheduling method, a seed wall system and a computer storage medium, which can speed up the picking speed, optimize the picking process and improve the sorting efficiency.

[0006] To solve the above technical problems, an embodiment of the present invention discloses a scheduling method applied to a sowing wall system. The sowing wall system includes a plurality of transport trolleys, a shelf, and a conveying device. Each transport trolley includes a transmission part. The transport trolley is used to move relative to the shelf, and the transmission part is used to carry the target object and convey the target object along the width direction of the shelf. The shelf includes a plurality of compartments, and each compartment is used to accommodate the target object. The conveying device includes a conveying part, and the conveying part is used to convey the target object along the width direction. The scheduling method includes: obtaining the order information of the target object, and determining a target compartment that matches the target object based on the order information; determining a transport trolley that matches the target object, and driving the transport trolley to move to a loading position, where the loading position corresponds to the conveying device; determining that the transport trolley is at the loading position, driving the conveying part and the transmission part to synchronously convey the target object to convey the target object to the transport trolley, and determining that the target object is on the transport trolley; determining a dropping strategy based on the position of the target compartment in the shelf; according to the dropping strategy, driving the transport trolley to move to a dropping position, and driving the transmission part to convey the target object to the target compartment, where the dropping position corresponds to the target compartment.

[0007] By adopting the above technical solution, the sowing wall system of the embodiment of the present application can synchronously convey goods (i.e., the above-mentioned target objects) by controlling the conveying part of the conveying device and the transmission part of the transport trolley, so that the goods conveyed by the conveying device can be conveyed to the transport trolley faster and be carried by the transmission part of the transport trolley to accelerate the transmission speed of the goods. Thus, compared with the existing sowing wall scheduling method, the sowing wall system of the embodiment of the present application can accelerate the picking speed, optimize the picking process, make the sorting of goods more reasonable, and further improve the sorting efficiency of the sowing wall system.

[0008] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method. The sowing wall system further includes a transport track group. The transport track group includes multiple layers of transport tracks spaced along the height direction of the shelf. Each layer of transport track is used for a plurality of transport trolleys to move along the transport track; the determining a dropping strategy based on the position of the target compartment in the shelf includes: determining that the dropping position and the loading position are on the same transport track, and driving the transport trolley to move along the length direction of the shelf to the dropping position; determining that the target compartment is in a normal state, and driving the transmission part to convey the target object to the target compartment.

[0009] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method. The sowing wall system further includes a lifting cabin. Along the length direction, the lifting cabin is arranged on opposite sides of the transport rail group. The lifting cabin has a lifting mechanism for driving the transport trolley to move in the height direction so that the transport trolley can switch between the multi-layer transport rails. The determining the grid dropping strategy based on the position of the target grid opening in the shelf further includes: determining that the grid dropping position and the loading position are on different transport rails, driving the transport trolley to move along the length direction of the shelf and towards the lifting cabin; determining that the transport trolley is located in the lifting cabin, controlling the lifting cabin to drive the transport trolley to move in the height direction so that the transport trolley switches to the transport rail where the grid dropping position is located; driving the transport trolley to move along the length direction to the grid dropping position; determining that the target grid opening is in a normal state, and driving the transmission part to convey the target object to the target grid opening.

[0010] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method. The lifting mechanism of the lifting cabin includes a plurality of lifting guide rails arranged at intervals in the height direction. The plurality of lifting guide rails can move in the height direction to correspond to the multi-layer transport rails. The scheduling method further includes: determining that at least two lifting guide rails of the lifting cabin located on one side of the transport rail group carry a transport trolley, and the at least two lifting guide rails respectively move to correspond to the transport rail where the grid dropping position of the transport trolley is located, and driving the transport trolley to move along the length direction towards the corresponding transport rail.

[0011] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method. The lifting mechanism of the lifting cabin includes a plurality of lifting guide rails arranged at intervals in the height direction. The plurality of lifting guide rails can move in the height direction to correspond to the multi-layer transport rails. The scheduling method further includes: determining that at least two lifting guide rails of the lifting cabin located on the other side of the transport rail group do not carry a transport trolley, and the at least two lifting guide rails respectively move to correspond to at least two layers of transport rails, and driving the transport trolleys in the first preset state on the at least two layers of transport rails to move along the length direction towards the at least two lifting guide rails respectively;

[0012] The first preset state at least indicates that the transport trolley does not load the target object.

[0013] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method, and determining the transport cart that matches the target object includes: determining that the transport cart is in a second preset state, where the second preset state at least indicates that the transport cart is not loaded with the target object and is not in a charging state.

[0014] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method. The shelf further includes a charging layer, and the charging layer includes a plurality of charging positions spaced along the length direction; the scheduling method further includes: determining that the transport cart is in a third preset state, driving the transport cart to move along the length direction and towards the lifting cabin, where the third preset state at least indicates that the transport cart is not loaded with the target object and is in a low battery state; determining that the transport cart is located in the lifting cabin, controlling the lifting cabin to drive the transport cart to move along the height direction so that the transport cart switches to a transport track corresponding to the charging layer; driving the transport cart to move along the length direction to the charging position.

[0015] An embodiment of the present invention also discloses a sowing wall system, including: a shelf including a plurality of compartments, each compartment being used to accommodate a target object; a conveying device including a conveying part for conveying the target object along the width direction of the shelf; a plurality of transport carts, each transport cart including a transmission part, the transport cart being used to move relative to the shelf along the length direction of the shelf, and the transmission part being used to carry the target object and convey the target object along the width direction; a controller respectively connected to the conveying device and the plurality of transport carts, and the controller being used to execute the scheduling method described in any of the above embodiments.

[0016] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a sowing wall system. The sowing wall system further includes: a transport track group including multiple layers of transport tracks and a charging layer spaced along the height direction, the charging layer including a plurality of charging positions spaced along the length direction, and the charging positions being connected to the controller; a lifting cabin, along the length direction, the lifting cabin being provided on opposite sides of the transport track group, the lifting cabin having a lifting mechanism connected to the controller, and the lifting mechanism being used to receive transport carts from multiple layers of the transport tracks and drive the transport carts to move along the height direction; the lifting mechanism of the lifting cabin includes a plurality of lifting guide rails spaced along the height direction, and the plurality of lifting guide rails can move along the height direction to correspond to multiple layers of the transport tracks and the charging layer.

[0017] Embodiments of the present invention also disclose a computer storage medium, including a memory and a processor, where the memory is adapted to store computer instructions, and the processor is adapted to execute the scheduling method described in any one of the above when running the computer instructions.

[0018] Embodiments of the present invention also disclose a computer program product, including a computer program / instructions, where when the computer program / instructions are executed by a processor, the scheduling method described in any one of the above is implemented.

[0019] To make the above content of the present invention more obvious and understandable, the following specifically gives preferred embodiments and elaborates them in detail in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the scene of the seeding wall system showing an embodiment of the present invention;

[0021] Figure 2 A three-dimensional view of the transportation track group, transportation trolley, lifting cabin and conveying device of the seeding wall system showing an embodiment of the present invention;

[0022] Figure 3 A three-dimensional view of a part of the lowermost transportation track, transportation trolley, lifting cabin and conveying device of the seeding wall system showing an embodiment of the present invention, where the input device and display device are not shown;

[0023] Figure 4 A three-dimensional view of a part of the shelf of the seeding wall system showing an embodiment of the present invention;

[0024] Figure 5 A three-dimensional view of a part of the lowermost transportation track, transportation trolley, lifting cabin and conveying device of the seeding wall system showing an embodiment of the present invention, where the input device and display device are also shown;

[0025] Figure 6 A flowchart of the scheduling method showing an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the transportation track group, transportation trolley and lifting cabin of the seeding wall system showing an embodiment of the present invention, applicable to the first grid dropping strategy;

[0027] Figure 8 A schematic diagram of the transportation track group, transportation trolley and lifting cabin of the seeding wall system showing an embodiment of the present invention, applicable to the second grid dropping strategy;

[0028] Figure 9 A block diagram of the electronic device provided by an embodiment of the present invention is shown;

[0029] Figure 10The block diagram of a system on chip (SoC) provided by an embodiment of the present invention is shown. Detailed implementation manners

[0030] The following describes the implementation manners of the present invention by specific specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention will be introduced in conjunction with preferred embodiments, this does not mean that the features of this invention are limited to this implementation manner. On the contrary, the purpose of introducing the invention in conjunction with the implementation manner is to cover other alternatives or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, many specific details will be included in the following description. The present invention can also be implemented without using these details. In addition, in order to avoid confusing or obscuring the key points of the present invention, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0031] It should be noted that in this specification, similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] In the description of this embodiment, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0033] The terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0034] In the description of this embodiment, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific situations.

[0035] To make the purpose, technical solutions and advantages of the present invention clearer, the implementation manners of the present invention will be further described in detail below with reference to the drawings.

[0036] Figure 1A schematic scenario diagram of a seeding wall system is shown according to some embodiments of the present application.

[0037] Referring Figure 1 , embodiments of the present application provide a seeding wall system 1, including: a transport rail group 10, a transport trolley 20, a shelf 30, a lifting cabin 40, a conveying device 50, and a controller (not shown in the figure). The controller of the embodiments of the present application is electrically connected to each of the transport trolley 20, the lifting cabin 40, and the conveying device 50.

[0038] Wherein, along the length direction of the seeding wall system 1 (such as Figure 1 the X direction shown in Figure 2 ), the transport rail group 10 is located between two lifting cabins 40. Exemplarily, as Figure 2 shown, on the left and right sides of the transport rail group 10 along the length direction X, there is a lifting cabin 40 respectively, and each lifting cabin 40 has a lifting channel 41 extending along the height direction of the seeding wall system 1 (such as Figure 2 the Z direction shown in

[0039] Specifically, as Figure 1 and Figure 2 shown, the transport rail group 10 of the embodiments of the present application includes multiple layers of transport rails 11 spaced along the height direction (such as Figure 1 the Z direction shown in

[0040] Exemplarily, the structures of the two lifting cabins 40 of the embodiments of the present application are the same. As Figure 2 and Figure 3 shown, each lifting cabin 40 includes a lifting mechanism 42 located in the lifting channel 41. Among them, each lifting mechanism 42 includes multiple lifting guide rails 421 spaced along the height direction Z, and each lifting guide rail 421 extends along the length direction X. The lifting guide rail 421 can move upward along the height direction (such as Figure 3 the Z1 direction shown in Figure 3 the Z2 direction shown in

[0041] Exemplarily, the lifting mechanism 42 moves upward or downward within the lifting channel 41. When the lifting guide rail 421 of the lifting mechanism 42 moves to correspond to the transportation track 11 of the corresponding layer, the transportation trolley 20 on the transportation track 11 moves from the transportation track 11 to the lifting guide rail 421 of the lifting mechanism 42. The lifting guide rail 421 bears the transportation trolley 20 and drives the transportation trolley 20 to move upward or downward within the lifting channel 41. When it moves to correspond to the transportation track 11 of the corresponding layer, the transportation trolley 20 on the lifting guide rail 421 moves from the lifting guide rail 421 into the transportation track 11.

[0042] Thus, the transportation trolley 20 of the embodiment of the present application can circulate between one of the lifting cabins 40, the multi-layer transportation track 11, and the other lifting cabin 40. That is to say, the transportation trolley 20 of the embodiment of the present application can switch between different transportation tracks 11 through the two lifting cabins 40.

[0043] Continue to refer to Figure 1 , along the width direction of the sowing wall system 1 (such as Figure 1 shown by the Y direction in

[0044] ), the above-mentioned shelves 30 are arranged on opposite sides of the transportation track group 10. That is, the shelves 30 are arranged on both sides of the width direction Y of the transportation track group 10 of the embodiment of the present application. However, it is not limited to this. Exemplarily, in some possible implementation manners, the shelves 30 may also be arranged on one side of the transportation track group 10 along the width direction Y. Figure 4 And, as

[0045] shown in Figure 1 , the shelf 30 of the embodiment of the present application includes: a plurality of grid groups arranged at intervals in the height direction Z. Each layer of grid group includes a plurality of chutes 31 arranged at intervals in the length direction X. Each chute 31 has an entrance 311 and an exit 312. Each chute 31 is inclined downward along the direction from the entrance 311 to the exit 312. The entrance 311 of each chute 31 is used to receive the goods transmitted from the transportation trolley 20. Each layer of grid group also includes a plurality of grids 32. The plurality of grids 32 correspond to the plurality of chutes 31 one by one. A grid 32 is provided at the exit 312 of each chute 31. The goods transmitted by the transportation trolley 20 to the entrance 311 of the chute 31 can slide along the chute 31 into the grid 32, and the grid 32 stores the goods.

[0046] Furthermore, the transport trolley 20 of the embodiment of the present application can switch between the transport tracks 11 on different floors through the lifting cabin 40 to reach different transport tracks 11, and can transmit the goods (such as the target) carried by the transport trolley 20 to each compartment 32 in the corresponding different compartment floors, realizing the sorting of the goods.

[0047] Continue to refer to Figure 4 and in combination with Figure 1 , the shelf 30 of the embodiment of the present application further includes a charging layer 33. The charging layer 33 includes a plurality of charging positions 331 arranged at intervals along the length direction X. Each charging position 331 is used for charging a transport trolley 20.

[0048] Exemplarily, as Figure 4 shown, along the height direction Z, the charging layer 33 is arranged above the multi-layer compartment group. Each charging position 331 is used to receive the transport trolley 20 moving along the uppermost transport track 11e (see Figure 1 ). That is, the transport trolley 20 can move along the uppermost transport track 11e (see Figure 1 ) to the corresponding charging position 331 to charge at the corresponding charging position 331.

[0049] Refer to Figure 5 and in combination with Figure 3 , the above-mentioned conveying device 50 is arranged on one side of the transport track group 10 along the width direction Y. That is, on one side of the transport track group 10 of the embodiment of the present application in the width direction Y, there is a conveying device 50, and the conveying device 50 is used to convey goods to the transport trolley 20 on the transport track group 10 along the width direction Y. However, it is not limited thereto. Exemplarily, in some possible implementation manners, it may also be that conveying devices 50 are arranged on both opposite sides of the transport track group 10 in the width direction Y.

[0050] And, as Figure 3 and Figure 5 shown, the conveying device 50 of the embodiment of the present application includes a conveying part 51 extending along the width direction Y. The conveying part 51 is used to carry goods and convey the goods to the transport trolley 20, Figure 3 and Figure 5 shows the direction in which the conveying part 51 conveys goods in the Y1 direction.

[0051] Continue to refer to Figure 5 , the seeding wall system 1 of the embodiment of the present application further includes an input device 60. The input device 60 is arranged above the conveying device 50 along the height direction Z. The input device 60 is electrically connected to the controller and is used to input the order information of the goods (i.e., the target described later) and send the order information to the controller. Exemplarily, as Figure 5As shown, the seeding wall system 1 of the embodiment of the present application further includes a display device 70, and the display device 70 is arranged above the conveying device 50 along the height direction Z.

[0052] Continuing to refer to Figure 3 and Figure 5 , the transport trolley 20 of the embodiment of the present application includes a transmission part 21, and the transmission part 21 is used to carry goods and transmit the goods to the shelf 30. Figure 3 and Figure 5 The directions of Y1 and Y2 in

[0053] show the directions in which the transmission part 21 transmits goods. Exemplarily, the transmission part 21 is a conveyor belt. Driven by the conveyor belt, the goods can run along the Y1 or Y2 direction to realize the subsequent loading and grid dropping actions of the goods.

[0054] It should be noted that the specific structures of the conveying part 51 and the transmission part 21 in the embodiment of the present application are not limited. It can be the above-mentioned conveyor belt. In other possible embodiments, it can also be a conveying roller, etc., as long as it can realize the functions of loading and grid dropping goods.

[0055] Next, based on Figures 1 to 5 the schematic diagram of the seeding wall system shown, the scheduling method of the present application will be described in detail through Figures 6 to 8 .

[0056] Specifically, the Figure 6 scheduling method of the present application can be implemented by the controller of the seeding wall system 1 executing relevant programs.

[0057] Referring to Figure 6 , according to a specific embodiment of the present application, the provided scheduling method includes the following steps.

[0058] S100: Obtain the order information of the target object, and determine the target grid corresponding to the target object based on the order information.

[0059] Here, the controller of the embodiment of the present application can receive the order information of the target object (such as the above-mentioned goods) fed back by the input device 60, and determine the target grid 32 corresponding to the target object based on the order information of the target object.

[0060] Exemplarily, the display device 70 of the embodiment of the present application is electrically connected to the controller. The display device 70 displays the order information of the current target scanned by the input device 60, such as a series of information in the Warehouse Management System (WMS) corresponding to the order number of the currently scanned target (such as the number information of the grid opening 32 described later) and the connection status of the server. The embodiment of the present application does not specifically limit the types of the input device 60 and the display device 70. For example, the above display device 70 is a display, and the input device 60 is a fixed infrared barcode scanner; however, it is not limited thereto. In other possible embodiments, the display device 70 may also be a touch screen, and the input device 60 may also be a handheld gun scanner or a camera, etc.

[0061] Exemplarily, in the embodiment of the present application, the controller numbers multiple grid openings 32 of the shelf 30 to determine the position of the grid opening 32 with the set number on the shelf 30. The order information of the target in the embodiment of the present application at least includes the number information of the grid opening 32 (i.e., the target grid opening) corresponding to the target.

[0062] Thus, the controller of the embodiment of the present application can determine the position of the grid opening 32 (i.e., the target grid opening) on the shelf 30 according to the number information of the grid opening 32 corresponding to the target. Exemplarily, as Figure 2 and 4 shown, the shelf 30 of the embodiment of the present application has five layers of grid opening layers, and the five layers of grid opening layers respectively correspond to the five layers of transport tracks 11 in the transport track group 10. Figure 4 shows the grid opening 32 located on the fourth layer of the grid opening layer. Correspondingly, the falling grid position (not shown in the figure) corresponding to this grid opening 32 is located on the fourth layer of the transport track 11d (see Figure 7 ). Furthermore, the controller of the embodiment of the present application can determine the falling grid position corresponding to the grid opening 32 with this number on the corresponding transport track 11 in the transport track group 10 according to the position of the grid opening 32 with this number on the shelf 30.

[0063] It can be understood that the falling grid position mentioned in the embodiment of the present application refers to the position where the transport trolley 20 moves on the transport track 11 to the grid opening 32 with the set number, and the transport part 21 of the transport trolley 20 can be driven by the controller to transport the target to the grid opening 32 with the set number in the width direction Y.

[0064] S200: Determine the transport trolley that matches the target, and drive the transport trolley to move to the loading position.

[0065] Here, the controller according to the embodiment of the present application obtains the order information of the current target through the input device 60 and the WMS in step S100 above, and selects a transport trolley 20 that matches the target from multiple transport trolleys 20. That is, the determined transport trolley 20 is bound to the current target. Then, the controller controls the transport trolley 20 to move on the transport track 11 to the loading position corresponding to the conveying device 50.

[0066] Exemplarily, before determining the transport trolley 20 that matches the target in step S200 above, step S201 needs to be performed.

[0067] S201: Determine that the transport trolley is in the second preset state.

[0068] Here, the transport trolley 20 according to the embodiment of the present application is powered by an independent battery. When the battery capacity of the transport trolley 20 is lower than the preset value, the transport trolley 20 transmits a low battery signal to the controller so that the controller determines that the transport trolley 20 is in a low battery state.

[0069] Exemplarily, the transport trolley 20 according to the embodiment of the present application has multiple preset states (for example, the first preset state, the second preset state, and the third preset state described later). Among them, the transport trolley 20 being in the first preset state at least means that the transport trolley 20 is not loaded with the target; the transport trolley 20 being in the second preset state at least means that the transport trolley 20 is not loaded with the target and the transport trolley 20 is not in the charging state, that is, the battery capacity of the transport trolley 20 is higher than or equal to the preset value, and the transport trolley 20 does not need to move to the above-mentioned charging position 331 for charging; the transport trolley 20 being in the third preset state at least means that the transport trolley 20 is not loaded with the target and the transport trolley 20 is in a low battery state, that is, the battery capacity of the transport trolley 20 is lower than the preset value, and the transport trolley 20 needs to move to the above-mentioned charging position 331 for charging.

[0070] However, the embodiment of the present application does not limit the types of preset states of the transport trolley 20 and the specific content of each preset state, as long as the transport trolley 20 can transmit a signal to the controller so that the controller can determine the real-time state of the transport trolley 20 based on different signals.

[0071] Specifically, when the scheduling method according to the embodiment of the present application determines that the transport trolley 20 is in the second preset state through step S201, the subsequent step S200 is continued to determine the transport trolley 20 that matches the target. This transport trolley 20 can be used to load the target conveyed by the conveying device 50 and has sufficient power to avoid deadlock.

[0072] Exemplarily, such as Figure 3 and Figure 5As shown, the conveying device 50 of the embodiment of the present application is arranged facing the lowermost layer of the transport track group 10, that is, the loading position of the embodiment of the present application is located on the lowermost layer of the transport track 11a. Figure 5 The transport trolley 20 located at the loading position of the embodiment of the present application is shown. At this time, the transport trolley 20 and the conveying part 51 are arranged opposite to each other in the width direction Y.

[0073] It can be understood that the scheduling method of the embodiment of the present application selects the transport trolley 20 in the second preset state from the multiple transport trolleys 20 on the transport track group 10 in step S201, and then selects the transport trolley 20 matching the target object from the transport trolleys 20 in the second preset state through step S200.

[0074] Exemplarily, in step S200, the scheduling method of the embodiment of the present application selects the transport trolley 20 located on the lowermost layer of the transport track 11a and closest to the loading position as the transport trolley 20 matching the target object, so as to reduce the distance and time for the transport trolley 20 to move to the loading position, optimize the path planning of the transport trolley 20, and avoid congestion. However, this is not limited thereto. In other possible implementation manners, the transport trolley 20 located on other layers of the transport track 11 and in the second preset state can also be selected as the transport trolley 20 matching the target object. For example, the transport trolley 20 located on the second layer of the transport track 11c (see Figure 7 ) can also be selected, and the transport trolley 20 is driven to switch to the lowermost layer of the transport track 11a through the above-mentioned lifting cabin 40 and move to the loading position.

[0075] In addition, after the transport trolley 20 for transporting the target object is selected in the above step S200, the controller sends a movement instruction to the transport trolley 20, so that the transport trolley 20 moves to the loading position after receiving the movement instruction. Exemplarily, as Figure 3 and Figure 5 shown, the conveying device 50 of the embodiment of the present application further includes a buffer conveying part 52. Along the width direction Y, the buffer conveying part 52 is arranged between the input device 60 and the conveying part 51. The buffer conveying part 52 is used to carry goods and convey the goods to the conveying part 51.

[0076] Thus, by adopting the above technical solution, the buffer conveying part 52 of the embodiment of the present application can dynamically buffer goods, make full use of the time for waiting for the transport trolley 20 to move to the loading position, so as to increase the goods handling capacity of the seeding wall system 1 of the embodiment of the present application and further improve the working efficiency of sorting goods. Figure 5 The direction in which the buffer conveying part 52 conveys goods is shown in the Y1 direction.

[0077] S300: Determine that the transport cart is in the loading position, drive the conveying unit and the transfer unit to synchronously convey the target object to convey the target object to the transport cart, and determine that the target object is on the transport cart.

[0078] Exemplarily, as Figure 5 shown, the conveying device 50 conveys the goods (not shown in the figure) along the width direction Y to below the input device 60 according to the received conveying instruction, so that the input device 60 scans the order number of the goods, and then the controller obtains the order information of the goods (i.e., the above-mentioned target object) from the WMS according to the order number of the goods. Then, before waiting for the transport cart 20 to move to the loading position, the conveying device 50 continues to convey the goods along the width direction Y to the above-mentioned buffer conveying unit 52 according to the received conveying instruction to buffer the goods.

[0079] However, it is not limited thereto. For example, in other possible embodiments, the conveying device 50 of the embodiment of the present application may also directly convey the goods to the conveying unit 51, that is, the conveying device 50 is not provided with the buffer conveying unit 52.

[0080] Here, as Figure 5 shown, when the controller receives the signal that the transport cart 20 is in the loading position (for example, the optoelectronic signal transmitted to the controller when the sensor senses that the transport cart 20 is in the loading position), the controller determines that the transport cart 20 has reached the loading position, and transmits the start instruction to the conveying unit 51 of the conveying device 50 to drive the conveying unit 51 to convey the goods (i.e., the target object) from the above-mentioned buffer conveying unit 52 along the width direction Y and towards the transport cart 20.

[0081] At the same time, the controller synchronously transmits the start instruction to the transfer unit 21 of the transport cart 20 to drive the transfer unit 21 of the transport cart 20 to start synchronously, that is, to drive the transfer unit 21 to convey the goods along the width direction Y and away from the conveying unit 51 to receive the goods from the conveying unit 51.

[0082] Adopting the above solution, the seeding wall system 1 of the embodiment of the present application can control the conveying unit 51 of the conveying device 50 and the transfer unit 21 of the transport cart 20 to synchronously convey the goods through the controller, so that the goods conveyed by the conveying device 50 can be conveyed to the transport cart 20 faster and be carried by the transfer unit 21 of the transport cart 20, so as to accelerate the transmission speed of the goods, thereby meeting the requirements of efficient scheduling and improving the sorting efficiency.

[0083] Furthermore, when the controller receives the signal that the goods are loaded in place on the transfer unit 21 (for example, the optoelectronic signal transmitted to the controller when the sensor senses that the goods are entirely on the transfer unit 21), the controller determines that the goods (i.e., the target object) are on the transport cart 20, that is, the transport cart 20 has completed the loading of the goods at the loading position and can continue to execute the subsequent grid dropping strategy.

[0084] Exemplarily, according to Figure 6 step S100 in, the corresponding grid dropping strategy can be determined.

[0085] Referring to Figures 7 to 8 , among which, there are two grid dropping strategies in total. Referring to Figure 7 , when the position of the target grid opening 32 in the shelf 30 is in the state as Figure 7 shown, the first grid dropping strategy is selected. Under the first grid dropping strategy, only the transport trolley 20 drives the target object to move on the transport track 11, and there is no need to switch the transport trolley 20 to a different transport track 11 through the lifting cabin 40.

[0086] Referring to Figure 8 , when the position of the target grid opening 32 in the shelf 30 is in the state as Figure 8 shown, the second grid dropping strategy is selected. Under the second grid dropping strategy, the transport trolley 20 first drives the target object to move on the transport track 11 into the lifting channel 41 of the lifting cabin 40, and then the lifting cabin 40 switches the transport trolley 20 and the target object carried by the transport trolley 20 to the transport track 11 where the grid dropping position is located.

[0087] Next, the specific grid dropping strategy will be described in detail with reference to the accompanying drawings.

[0088] S400: Determine the grid dropping strategy based on the position of the target grid opening in the shelf.

[0089] Here, referring to Figure 7 , the controller, according to the order information of the target object received, that is, the above-mentioned target grid opening 32 is located on the bottommost layer of the shelf 30, and the grid dropping position corresponding to the target grid opening 32 (as Figure 7 shown by the solid line frame with label N in) and the loading position (as Figure 7 shown by the dashed line frame with label O in) are on the same transport track 11 (for example, it is Figure 7 the bottommost layer transport track 11a shown in), determines the grid dropping strategy as the first grid dropping strategy, and transmits this signal to the transport trolley 20.

[0090] S500: According to the grid dropping strategy, drive the transport trolley to move to the grid dropping position, and drive the transmission part to convey the target object to the target grid opening.

[0091] Specifically, referring to Figure 7 , when it is determined in step S400 above that both the grid dropping position N and the loading position O are on the bottommost layer transport track 11a (that is, on the same transport track 11), step S501 described later is continued.

[0092] S501: Determine that the dropping position and the loading position are on the same transportation track, and drive the transportation trolley to move along the length direction of the shelf to the dropping position.

[0093] Specifically, referring to Figure 7 , the transportation trolley 20 drives the target object to move to the dropping position N along the length direction X on the lowermost transportation track 11a according to the received dropping strategy. That is, the transportation trolley 20 moves on the lowermost transportation track 11a to a position corresponding to the target grid opening. That is, at this time, the transmission part 21 of the transportation trolley 20 faces the entrance of the chute corresponding to the target grid opening (not shown in the figure), and then proceeds to the subsequent step S502.

[0094] S502: Determine that the target grid opening is in a normal state, and drive the transmission part to move along the width direction and towards the target grid opening to convey the target object to the target grid opening.

[0095] Exemplarily, each grid opening 32 on the shelf 30 of the embodiment of the present application is connected to the controller to transmit the state signal of each grid opening 32 to the controller. For example, when the grid opening 32 is full or an operator needs to perform a packing operation, the grid opening 32 transmits a grid locking signal to the controller so that the controller determines that the grid opening 32 is in a grid locked state; or, when the grid opening 32 is not full, the grid opening 32 transmits a normal signal to the controller so that the controller determines that the grid opening 32 is in a normal state.

[0096] Exemplarily, each grid opening 32 of the embodiment of the present application has a grid opening indicator light (not shown in the figure) and a grid opening display screen (not shown in the figure). Among them, the grid opening indicator light can display the grid opening state (such as the above normal state or grid locked state), and at the same time, the grid opening 32 can be locked or unlocked through the grid opening indicator light button. For example, after the sorting of the grid opening 32 is completed, the operator can press the grid locking button (i.e., the grid opening indicator light button), and then perform a packing operation on the goods stored in the grid opening 32. The grid opening display screen can dynamically display the processes, work sections, grid opening states, etc. of the grid opening 32.

[0097] Specifically, the controller determines that the target grid opening 32 is in a normal state according to the received normal signal transmitted by the target grid opening 32. At this time, the transportation trolley 20 can convey the target object to the target grid opening 32 through the transmission part 21. That is, the transmission part 21 conveys the target object along the width direction Y and towards the entrance of the chute corresponding to the target grid opening 32, so that the target object can slide into the target grid opening 32 along the chute.

[0098] The above scheduling method synchronously conveys goods through the conveying part 51 of the driving conveying device 50 and the transmission part 21 of the transport trolley 20 to accelerate the transmission speed of the goods. Then, the dropping strategy is determined by determining the dropping position corresponding to the target grid 32, so as to realize sorting the target object into the target grid 32. The whole process is completed by the conveying device 50 and the transport trolley 20, without manual sorting, saving labor costs, improving efficiency, and at the same time being able to more efficiently optimize the path planning of the transport trolley 20 to meet the requirements of efficient scheduling.

[0099] When the position of the above-mentioned target grid 32 changes, different dropping strategies need to be correspondingly selected. Specifically, when the position of the target grid 32 changes from the position shown above Figure 7 to the position shown in Figure 8 , the dropping strategy will change from the first dropping strategy to the second dropping strategy. The following will describe the second dropping strategy in detail in combination with Figure 8 .

[0100] S500: According to the dropping strategy, drive the transport trolley and the transmission part to convey the target object to the target grid.

[0101] Specifically, referring to Figure 8 , when it is determined in step S400 above that the dropping position N is on the third-layer transport track 11b and the loading position O is on the bottommost transport track 11a, that is, the dropping position N and the loading position O are on different-layer transport tracks 11, step S501 described below is continued.

[0102] S501: Determine that the dropping position and the loading position are on different transport tracks, drive the transport trolley to move along the length direction of the shelf and towards the lifting cabin; determine that the transport trolley is in the lifting cabin, control the lifting cabin to drive the transport trolley to move in the height direction so that the transport trolley switches to the same transport track as the dropping position; drive the transport trolley to move along the length direction to the dropping position.

[0103] Exemplarily, as shown in Figure 8 , in the embodiment of the present application, the transport trolley 20 enters the lifting channel 41 of the left lifting cabin 40 along the bottommost transport track 11a, is lifted upward in the lifting channel 41 of the left lifting cabin 40, then enters the corresponding-layer transport track 11, moves along the transport track 11 into the lifting channel 41 of the right lifting cabin 40, and the transport trolley 20 is lifted downward in the lifting channel 41 of the right lifting cabin 40 to enter the bottommost transport track 11a again, forming the Figure 8 shown circular movement path A.

[0104] Those skilled in the art can understand that the transport trolley 20 can also move in a cycle among the lifting cabin 40 on the left, the transport track group 10, and the lifting cabin 40 on the right along a movement path opposite to the above-mentioned circular movement path A. For the convenience of understanding below, the embodiment of the present application is described by taking the circular movement path A of the transport trolley 20 as an example.

[0105] Specifically, referring to Figure 8 , according to the received grid dropping strategy, the transport trolley 20 drives the target object to move along the length direction X of the bottommost transport track 11a towards the lifting cabin 40 located on the left side of the transport track group 10. After the controller receives the signal allowing entry from the lifting cabin 40, the transport trolley 20 continues to drive the target object to move onto the lifting guide rail 421 in the lifting cabin 40. Then the controller transmits a layer-changing signal to the lifting mechanism 42 of the lifting cabin 40, and the lifting mechanism 42 performs a layer-changing action to drive the lifting guide rail 421 to drive the transport trolley 20 to move upward along the height direction Z1 to correspond to the third-layer transport track 11b. After the transport trolley 20 receives the movement instruction transmitted by the controller, it continues to drive the target object to move along the length direction X towards the third-layer transport track 11b to the grid dropping position, and then continues with the subsequent step S502.

[0106] S502: Determine that the target grid opening is in a normal state, and drive the transmission part to move in the width direction and towards the target grid opening to convey the target object to the target grid opening.

[0107] Specifically, the controller determines that the target grid opening 32 is in a normal state according to the normal signal transmitted by the received target grid opening 32. At this time, the transport trolley 20 can convey the target object to the target grid opening 32 through the transmission part 21. That is, the transmission part 21 conveys the target object in the width direction Y and towards the entrance of the chute corresponding to the target grid opening 32, so that the target object can slide into the target grid opening 32 along the chute.

[0108] In the above embodiment, in the scheduling method of the embodiment of the present application, the lifting cabin 40 can drive the transport trolley 20 to move in the height direction Z so that the transport trolley 20 can switch among multiple layers of transport tracks 11. Based on this, in order to further improve the sorting efficiency of the embodiment of the present application, the scheduling method of the embodiment of the present application further includes step S600 and step S601.

[0109] S600: Determine that at least two lifting guide rails carry transport trolleys, and at least two lifting guide rails respectively move to correspond to the transport track where the grid dropping position of the transport trolley is located, and drive the transport trolley to move in the length direction towards the corresponding transport track.

[0110] Specifically, the controller, according to the signal transmitted by the lifting mechanism 42 of the left lifting cabin 40 received, that is, as Figure 7As shown, there are two lifting guide rails 421 in the lifting mechanism 42 that carry the transport carts 20. At this time, these two lifting guide rails 421 move along the height direction Z respectively to correspond to two transport tracks (that is, Figure 7 the second-layer transport track 11c and the fourth-layer transport track 11d in Figure 7 ), and there are drop positions for the goods carried by the two transport carts 20 respectively on these two transport tracks 11c and 11d (as shown by the solid-line frames numbered N1 and N2 in

[0111] ), then the controller determines that the two transport carts 20 on the above two lifting guide rails 421 in the left lifting cabin 40 can both move to the corresponding transport tracks 11. Figure 7 Then, the controller sends signals to the two transport carts 20 respectively, so that after the two transport carts 20 receive the movement instructions transmitted by the controller, they move along the length direction X respectively towards the drop positions on the corresponding transport tracks 11 (as shown by the drop positions N1 and N2 in

[0112] ). Those skilled in the art can understand that there can also be more than two lifting guide rails 421 in the lifting mechanism 42 that all carry transport carts 20, and when each lifting guide rail 421 moves along the height direction Z to correspond to the corresponding transport track 11, the transport carts 20 on the lifting guide rail 421 can all receive the movement instructions transmitted by the controller and move synchronously towards the corresponding transport track 11.

[0113] Therefore, by adopting the above technical solution, when the scheduling method of the embodiment of the present application controls the transport cart 20 to switch between different-layer transport tracks 11 through the lifting cabin 40 from the bottommost transport track 11a, it can drive multiple transport carts 20 to enter the corresponding transport tracks 11 synchronously, without waiting for the multiple transport carts 20 in the lifting mechanism 42 to move into the corresponding transport tracks 11 in sequence, which can save the layer-changing time of the transport carts 20 and improve the sorting efficiency.

[0114] S601: Determine that at least two lifting guide rails do not carry transport carts, and at least two lifting guide rails move to correspond to at least two layers of transport tracks respectively, and drive the transport carts in the first preset state on at least two layers of transport tracks to move along the length direction towards at least two lifting guide rails respectively.

[0115] Specifically, the controller, according to the signal transmitted by the lifting mechanism 42 of the right lifting cabin 40 received, that is, as shown in Figure 8 there are two lifting guide rails 421 in the lifting mechanism 42 that do not carry transport carts 20. At this time, these two lifting guide rails 421 move along the height direction Z respectively to correspond to two transport tracks (that is, Figure 8If the third - layer transportation track 11b and the second - layer transportation track 11c) correspond, the controller determines that both of the above - mentioned two lifting guide rails 421 in the right - hand lifting cabin 40 can be used to carry the transportation trolley 20, so that the transportation trolley 20 can move to the corresponding transportation track 11.

[0116] Then, the controller respectively receives the status signals fed back by the transportation trolleys 20 in the corresponding transportation tracks 11b and 11c to determine the transportation trolleys 20 in the first preset state in the transportation tracks 11b and 11c, that is, the transportation trolleys 20 not carrying goods. Then the controller respectively sends signals to the above - mentioned transportation trolleys 20 in the first preset state. After the transportation trolleys 20 not carrying goods receive the movement instructions transmitted by the controller, they respectively move along the length direction X towards the corresponding lifting guide rails 421. After the transportation trolleys 20 enter the right - hand lifting cabin 40, the lifting mechanism 42 of the right - hand lifting cabin 40 drives the transportation trolleys 20 to move synchronously along the height direction Z, so that the transportation trolleys 20 can be switched to the corresponding transportation track 11.

[0117] Furthermore, adopting the above - mentioned technical solution, when the scheduling method of the embodiment of the present application controls the transportation trolley 20 to be switched from the transportation tracks 11 of different layers to the bottom - most layer transportation track 11a through the lifting cabin 40, it can drive the transportation trolleys 20 not carrying goods in the multi - layer transportation tracks 11 to enter the lifting guide rails 421 of the transportation trolleys 20 not carrying goods in the lifting cabin 40, that is, the transportation trolleys 20 that have completed the grid - dropping action can synchronously enter the corresponding lifting guide rails 421 of the transportation trolleys 20 not carrying goods in the lifting cabin 40, without waiting for the transportation trolleys 20 that have completed the grid - dropping action in the multi - layer transportation tracks 11 to pass through the lifting cabin 40 in sequence and be switched to the corresponding transportation track 11. It can improve the processing efficiency of the lifting cabin 40, drive multiple transportation trolleys 20 to move synchronously along the height direction Z, further save the layer - changing time of the transportation trolleys 20, and effectively avoid congestion and no - load situations.

[0118] In the above step S201, according to the status signals fed back by the transportation trolley 20 received by the controller, the status information of the transportation trolley 20 is determined, such as the power of the transportation trolley 20. Based on this, in order to automatically schedule the transportation trolley 20 to the charging layer 33 for charging, the scheduling method of the embodiment of the present application further includes steps S700 to S702.

[0119] S700: Determine that the transportation trolley is in the third preset state and drive the transportation trolley to move along the length direction and towards the lifting cabin.

[0120] Specifically, the controller determines that the transportation trolley 20 is in the third preset state according to the status signals fed back by the transportation trolley 20, that is, the transportation trolley 20 is not carrying goods and is in a low - power state. Then, the controller sends a movement instruction to the transportation trolley 20, so that the transportation trolley 20 moves towards the left - hand lifting cabin 40 after receiving the movement instruction.

[0121] S701: Determine that the transport trolley is located in the lifting cabin, and control the driving of the lifting cabin to move the transport trolley in the height direction so that the transport trolley switches to the transport track corresponding to the charging layer.

[0122] Specifically, after the transport trolley 20 moves towards the left lifting cabin 40 in the above step S700, after the controller receives the signal allowing entry from the lifting cabin 40, the transport trolley 20 continues to move onto the lifting guide rail 421 inside the left lifting cabin 40. Then the controller transmits a layer-changing signal to the lifting mechanism 42, and the lifting mechanism 42 performs a layer-changing action to drive the lifting guide rail 421 to drive the transport trolley 20 to move upward in the height direction Z1 to the transport track 11 corresponding to the charging layer 33 (such as Figure 1 the uppermost transport track 11e shown in the figure), and then continue with the subsequent step S702.

[0123] S702: Drive the transport trolley to move in the length direction to the charging position.

[0124] Specifically, the controller determines, based on the signal fed back by the lifting mechanism 42, that the lifting guide rail 421 has moved to correspond to the transport track 11 corresponding to the charging layer 33. Then the controller sends a movement instruction to the transport trolley 20, so that after the transport trolley 20 receives the movement instruction, it moves in the length direction X to the uppermost transport track 11e and continues to move to the charging position 331. That is, the transport trolley 20 in the third preset state moves to a position corresponding to the charging position 331 on the uppermost transport track 11e for charging, and after the charging is completed and it receives the movement instruction, it resumes work, so as to ensure that the seeding wall system 1 adopting the scheduling method of the embodiment of the present application can operate stably, orderly, efficiently, and accurately.

[0125] It should be noted that the scheduling method of the solution of the present application is not limited to the above application scenarios. As long as it is an application scenario that requires rapid sorting of items, it can be implemented by the scheduling method of the present application. For example, it can also be the sorting of products on a factory assembly line.

[0126] Moreover, the present application embodiment does not limit the specific structure of the transport trolley 20 either. For example, in the above embodiment, the transport trolley 20 is an RGV trolley; but not limited thereto, the transport trolley 20 in the embodiment of the present application can also be other forms of transport devices, such as a sorting robot that can move along the transport track 11 and the lifting guide rail 421.

[0127] In addition, the present invention also provides a computer storage medium, including a memory and a processor. The memory is adapted to store computer instructions, and the processor is adapted to execute the scheduling method described in any one of the above embodiments when running the computer instructions.

[0128] Referring now to Figure 9 , shown is a block diagram of an electronic device 800 in accordance with an embodiment of the present application. The electronic device 800 is, for example, a smart mobile terminal. The electronic device 800 may include one or more processors 801 coupled to a controller hub 803. For at least one embodiment, the controller hub 803 communicates with the processor 801 via a multi-drop bus such as a front side bus (FSB), a point-to-point interface such as QuickPath Interconnect (QPI), or a similar connection. The processor 801 executes instructions that control general types of data processing operations. In one embodiment, the controller hub 803 includes, but is not limited to, a Graphics & Memory Controller Hub (GMCH) (not shown) and an Input Output Hub (IOH) (which may be on a separate chip) (not shown), where the GMCH includes a memory and a graphics controller and is coupled to the IOH.

[0129] The electronic device 800 may also include a coprocessor 802 and a memory 804 coupled to the controller hub 803. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, the memory 804 and the coprocessor 802 are directly coupled to the processor 801 and the controller hub 803, and the controller hub 803 and the IOH are in a single chip.

[0130] The memory 804 may be, for example, a Dynamic Random Access Memory (DRAM), a Phase Change Memory (PCM), or a combination of the two. The memory 804 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. Instructions are stored in the computer-readable storage medium, specifically, temporary and permanent copies of the instructions are stored. The instructions may include: instructions that, when executed by at least one of the processors, cause the electronic device 800 to implement the scheduling method as Figure 6 shown. When the instructions are run on a computer, the computer is caused to execute the methods disclosed in any of the above embodiments or combination embodiments to sort goods (i.e., target objects) into different compartments 32 of the shelf 30.

[0131] In one embodiment, the co-processor 802 is a dedicated processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor, etc. The optional nature of the co-processor 802 is indicated by a dashed line in Figure 9 as shown.

[0132] In one embodiment, the electronic device 800 may further include a network interface (NIC, Network Interface Controller) 806. The network interface 806 may include a transceiver for providing a radio interface for the electronic device 800 to communicate with any other suitable device (such as a front-end module, an antenna, etc.). In various embodiments, the network interface 806 may be integrated with other components of the electronic device 800. The network interface 806 may implement the functions of the communication unit in the above embodiments.

[0133] The electronic device 800 may further include an input / output (I / O) device 805. The I / O 805 may include: a user interface designed to enable a user to interact with the electronic device 800; a peripheral component interface designed to enable peripheral components to also interact with the electronic device 800; and / or sensors designed to determine environmental conditions and / or location information related to the electronic device 800.

[0134] It should be noted that Figure 9 is merely exemplary. That is, although Figure 9 shows that the electronic device 800 includes multiple components such as a processor 801, a controller hub 803, a memory 804, etc., in actual applications, the devices using the methods of the present application may include only a part of the components of the electronic device 800. For example, it may only include the processor 801 and the network interface 806. Figure 9 The nature of the optional components in

[0135] is shown by a dashed line. Figure 10 Now refer to Figure 10 which shows a block diagram of a SoC (System on Chip) 900 according to an embodiment of the present application. In Figure 10Among them, the SoC includes: an interconnect unit 950, which is coupled to the processor 910; a system agent unit 980; a bus controller unit 990; an integrated memory controller unit 940; one or a group of one or more coprocessors 920, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 930; and a direct memory access (DMA) unit 960. In one embodiment, the coprocessor 920 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU (General-purpose computing on graphics processing units), a high-throughput MIC processor, or an embedded processor, etc.

[0136] The static random access memory (SRAM) unit 930 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. Instructions are stored in the computer-readable storage medium, specifically, temporary and permanent copies of the instructions are stored. The instructions may include: instructions that, when executed by at least one of the processors, cause the SoC to implement the scheduling method as Figure 6 shown. When the instructions run on a computer, the computer is caused to execute the methods disclosed in the above embodiments.

[0137] An embodiment of the present application also provides a computer program product for implementing the scheduling methods provided in the above embodiments.

[0138] Embodiments of the mechanisms disclosed in the present application can be implemented in hardware, software, firmware, or a combination of these implementation methods. Embodiments of the present application can be implemented as computer program modules or module codes executed on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memories and / or storage elements), at least one input device, and at least one output device.

[0139] The computer program modules or module codes can be applied to input instructions to perform the various functions described in the present application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of the present application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0140] The module code can be implemented in a high-level modular language or an object-oriented programming language to communicate with the processing system. When needed, the module code can also be implemented in assembly language or machine language. In fact, the mechanisms described in this application are not limited to the scope of any specific programming language. In any case, the language can be a compiled language or an interpreted language.

[0141] In some cases, the disclosed embodiments can be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried or stored on one or more transient or non-transient machine-readable (e.g., computer-readable) storage media, which can be read and executed by one or more processors. For example, the instructions can be distributed via a network or via other computer-readable media. Thus, machine-readable media can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including but not limited to, floppy disks, optical disks, optical discs, magneto-optical discs, read only memory (ROM), random access memory (RAM), erasable programmable read only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or tangible machine-readable memories for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) in the form of electrical, optical, acoustic, or other propagated signals using the Internet. Thus, machine-readable media includes any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0142] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, those of ordinary skill in the art should understand that the above is a further detailed description of the present invention in conjunction with specific embodiments, and the specific implementation of the present invention cannot be limited to these descriptions. Those skilled in the art can make various changes in form and detail, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A scheduling method, applied to a sowing wall system, the sowing wall system comprising a plurality of transport trolleys, a shelf and a conveying device. Each of the transport trolleys includes a transmission part. The transport trolley is configured to move relative to the shelf. The transmission part is configured to carry an object and convey the object along the width direction of the shelf. The shelf includes a plurality of compartments, and each compartment is configured to accommodate the object. The conveying device includes a conveying part and a buffer conveying part. The conveying part is configured to convey the object along the width direction. The buffer conveying part is configured to convey the object along the width direction. The sowing wall system further includes a transport track group. The transport track group includes multiple layers of transport tracks spaced along the height direction of the shelf. Each layer of the transport tracks is configured to allow a plurality of transport trolleys to move along the transport tracks. The sowing wall system further includes a lifting cabin. Along the length direction, the lifting cabin is provided on opposite sides of the transport track group. The lifting cabin has a lifting mechanism. The lifting mechanism is configured to drive the transport trolley to move along the height direction so that the transport trolley can switch between multiple layers of the transport tracks. The lifting mechanism of the lifting cabin includes a plurality of lifting guide rails spaced along the height direction. The plurality of lifting guide rails can move along the height direction to correspond to the multiple layers of the transport tracks. It is characterized in that, The scheduling method includes: Obtain the order information of the target object, and determine a target grid corresponding to the target object based on the order information; Determine a transport cart corresponding to the target object, drive the transport cart to move to a loading position, and drive the buffer conveyor to convey the target object to the conveyor, where the loading position corresponds to the conveying device; Determine that the transport cart is at the loading position, drive the conveyor and the transfer unit to synchronously convey the target object to convey the target object to the transport cart, and determine that the target object is on the transport cart; Determine a grid dropping strategy based on the position of the target grid in the shelf; According to the grid dropping strategy, drive the transport cart to move to a grid dropping position, and drive the transfer unit to convey the target object to the target grid, where the grid dropping position corresponds to the target grid; The scheduling method further includes: Determine that at least two lifting guide rails of a lifting cabin on one side of the transport rail group carry a transport cart, and the at least two lifting guide rails respectively move to correspond to the transport rail where the grid dropping position of the transport cart is located, and drive the transport cart to move along the length direction towards the corresponding transport rail; and / or, Determine that at least two lifting guide rails of a lifting cabin on the other side of the transport rail group do not carry a transport cart, and the at least two lifting guide rails respectively move to correspond to at least two layers of transport rails, and drive the transport carts in a first preset state on the at least two layers of transport rails to move along the length direction towards the at least two lifting guide rails respectively; the first preset state at least indicates that the transport cart does not load the target object.

2. The scheduling method according to claim 1, characterized in that The determining a grid dropping strategy based on the position of the target grid in the shelf includes: Determine that the grid dropping position and the loading position are on the same transport rail, and drive the transport cart to move along the length direction of the shelf to the grid dropping position; Determine that the target grid is in a normal state, and drive the transfer unit to convey the target object to the target grid.

3. The scheduling method according to claim 2, wherein The determining a grid dropping strategy based on the position of the target grid in the shelf further includes: Determine that the grid dropping position and the loading position are on different transport rails, and drive the transport cart to move along the length direction of the shelf and towards the lifting cabin; Determine that the transport cart is in the lifting cabin, control the lifting cabin to drive the transport cart to move along the height direction so that the transport cart switches to the same transport rail as the grid dropping position; Drive the transport cart to move along the length direction to the grid dropping position; Determine that the target grid is in a normal state, and drive the transfer unit to convey the target object to the target grid.

4. The scheduling method according to claim 1, wherein The scheduling method further includes: Before determining a transport cart corresponding to the target object, determine that the transport cart is in a second preset state, and the second preset state at least indicates that the transport cart does not load the target object and is not in a charging state.

5. The scheduling method according to claim 3, wherein, The shelf further includes a charging layer, and the charging layer includes a plurality of charging positions arranged at intervals along the length direction; The scheduling method further includes: Determining that the transport trolley is in a third preset state, and driving the transport trolley to move along the length direction and towards the lifting cabin, where the third preset state at least indicates that the transport trolley is not loaded with the target object and is in a low power state; Determining that the transport trolley is located in the lifting cabin, and controlling the lifting cabin to drive the transport trolley to move along the height direction so that the transport trolley switches to a transport track corresponding to the charging layer; Driving the transport trolley to move along the length direction to the charging position.

6. A seeding wall system, characterized in that, including: A shelf, including a plurality of compartments, each of which is used to accommodate a target object; A conveying device, including a conveying part and a buffer conveying part, where the conveying part is used to convey the target object along the width direction of the shelf, and the buffer conveying part is used to convey the target object along the width direction; A plurality of transport trolleys, each of which includes a transmission part, and the transport trolley is used to move relative to the shelf along the length direction of the shelf, and the transmission part is used to carry the target object and convey the target object along the width direction; A controller, respectively connected to the conveying device and the plurality of transport trolleys, and the controller is used to execute the scheduling method according to any one of claims 1 to 5.

7. The seeding wall system according to claim 6, wherein The seeding wall system further includes: A transport track group, which includes multiple layers of transport tracks and a charging layer arranged at intervals along the height direction, the charging layer includes a plurality of charging positions arranged at intervals along the length direction, and the charging positions are connected to the controller; A lifting cabin, along the length direction, the lifting cabin is arranged on opposite sides of the transport track group, the lifting cabin has a lifting mechanism, the lifting mechanism is connected to the controller, and the lifting mechanism is used to receive transport trolleys from multiple layers of the transport tracks and drive the transport trolleys to move along the height direction; The lifting mechanism of the lifting cabin includes a plurality of lifting guide rails arranged at intervals along the height direction, and the plurality of lifting guide rails can move along the height direction to correspond to multiple layers of the transport tracks and the charging layer.

8. A computer storage medium, characterized in that, including a memory and a processor, the memory is adapted to store computer instructions, and the processor is adapted to execute the scheduling method according to any one of claims 1 to 5 when running the computer instructions.

9. A computer program product, characterized in that, including computer programs / instructions, and when the computer programs / instructions are executed by the processor, the scheduling method according to any one of claims 1 to 5 is implemented.

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