Scheduling method, seed wall system and computer storage medium

Abstract

The present invention discloses a scheduling method, a seed wall system, and a computer storage medium. The scheduling method includes: obtaining order information of a target object, determining a target grid that matches the target object based on the order information; determining a transport trolley that matches the target object, driving the transport trolley to move to a loading position, where the loading position corresponds to a conveying device; determining that the transport trolley is at the loading position, driving a conveying unit and a transmission unit to synchronously convey the target object to the transport trolley, and determining that the target object is located on the transport trolley; determining a drop-off strategy based on the position of the target grid on the shelf; according to the drop-off strategy, driving the transport trolley to move to the drop-off position, and driving the transmission unit to convey the target object to the target grid, where the drop-off position corresponds to the target grid. The present invention can accelerate picking speed, optimize the picking process, and improve sorting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, 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, the application and management of logistics systems have become increasingly important. While transport vehicles, such as RGVs (Rail Guided Vehicles), used in material warehouses can facilitate logistics transportation, the path planning and task scheduling technologies involved in multiple RGVs are key factors affecting current sorting efficiency.

[0003] However, current solutions have many shortcomings, such as: 1) Scheduling tasks are not combined with the real-time needs of the production execution system and cannot be interconnected with on-site equipment; 2) They cannot effectively cope with complex scheduling tasks and implement dynamic scheduling during the process, which is prone to deadlock or no-load conditions, resulting in low handling efficiency; 3) Current path planning algorithms usually plan 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 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 situations, 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 present invention aims to address the problems of existing putwall scheduling methods, which are unable to achieve dynamic scheduling and have low sorting efficiency. The present invention provides a scheduling method, putwall system, and computer storage medium that can accelerate picking speed, optimize the picking process, and improve sorting efficiency.

[0006] In order to solve the above technical problems, an embodiment of the present invention discloses a scheduling method, which is applied to a seed wall system, wherein the seed wall system includes a plurality of transport trolleys, shelves and conveying devices, each of the transport trolleys includes a conveying part, the transport trolley is used to move relative to the shelf, the conveying 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 grids, each of the grids is used to accommodate the target object, the conveying device includes a conveying part, the conveying part is used to convey the target object along the width direction, and the scheduling method includes: obtaining order information of the target object, determining the target object according to the order information, and a target grid that matches the target object; determining a transport trolley that matches the target object, driving the transport trolley to move to a loading position, and the loading position corresponding to the conveying device; determining that the transport trolley is located at the loading position, driving the conveying unit and the transmission unit to synchronously transport the target object to the transport trolley, and determining that the target object is located on the transport trolley; determining a drop-grid strategy based on the position of the target grid in the shelf; according to the drop-grid strategy, driving the transport trolley to move to the drop-grid position, and driving the transmission unit to transport the target object to the target grid, and the drop-grid position corresponding to the target grid.

[0007] By employing the above-described technical solution, the seed wall system of the present embodiment can synchronously transport goods (i.e., the aforementioned target objects) by controlling the conveyor unit of the conveyor device and the transport unit of the transport vehicle. This allows the goods transported by the conveyor device to be more quickly delivered to the transport vehicle and carried by the transport unit of the transport vehicle, thereby accelerating the delivery of the goods. Consequently, compared to existing seed wall scheduling methods, the seed wall system of the present embodiment can accelerate picking speeds, optimize the picking process, and make goods sorting more rational, further improving the sorting efficiency of the seed wall system.

[0008] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method, wherein the seed wall system further includes a transport track group, wherein the transport track group includes multiple layers of transport tracks spaced apart along the height direction of the shelf, and each layer of the transport track is used for multiple transport carts to move along the transport track; the determination of the drop-off strategy based on the position of the target grid in the shelf includes: determining that the drop-off position and the loading position are located on the same transport track, and driving the transport cart to move along the length direction of the shelf to the drop-off position; determining that the target grid is in a normal state, and driving the transmission part to transport the target object to the target grid.

[0009] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method, wherein the seed wall system also includes a lifting cabin, which is arranged on opposite sides of the transport track group along the length direction, and the lifting cabin has a lifting mechanism, which is used to drive the transport trolley to move along the height direction so that the transport trolley can switch between the multi-layer transport tracks; the determination of the drop-grid strategy based on the position of the target grid in the shelf also includes: determining that the drop-grid position and the loading position are located on different transport tracks, driving the transport trolley to move along the length direction of the shelf and toward 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 along the height direction, so that the transport trolley switches to the same transport track as the drop-grid position; driving the transport trolley to move along the length direction to the drop-grid position; determining that the target grid is in a normal state, and driving the transmission part to transport the target object to the target grid.

[0010] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method, wherein 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 the multiple layers of the transport rails; the scheduling method also 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 are respectively moved to correspond to the transport rails where the drop-off position of the transport trolley is located, and driving the transport trolley to move along the length direction toward the corresponding transport rail.

[0011] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method, wherein the lifting mechanism of the lifting cabin includes a plurality of lifting guide rails spaced apart along a height direction, and the plurality of lifting guide rails are movable along the height direction to correspond to multiple layers of the transport rails; the scheduling method further comprises: determining that at least two lifting guide rails of the lifting cabin located on the other side of the transport rail group are not carrying transport trolleys, and the at least two lifting guide rails are respectively moved to correspond to at least two layers of transport rails, and driving the transport trolleys in a first preset state on the at least two layers of transport rails to move respectively along the length direction toward the at least two lifting guide rails;

[0012] The first preset state at least indicates that the transport cart is not loaded with the target object.

[0013] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a scheduling method, wherein determining a transport cart that matches the target object includes: determining that the transport cart is in a second preset state, and 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, wherein the shelf also includes a charging layer, and the charging layer includes a plurality of charging positions spaced apart along the length direction; the scheduling method also includes: determining that the transport trolley is in a third preset state, driving the transport trolley to move along the length direction and toward the lifting cabin, the third preset state at least indicating 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, controlling the lifting cabin to drive the transport trolley to move along the height direction, so that the transport trolley switches to the transport track corresponding to the charging layer; driving the transport trolley to move along the length direction to the charging position.

[0015] An embodiment of the present invention also discloses a seeding wall system, comprising: a shelf, comprising a plurality of grid openings, each of the grid openings being used to accommodate a target object; a conveying device, comprising a conveying part, the conveying part being used to convey the target object along the width direction of the shelf; a plurality of transport carts, each of the transport carts comprising a transmission part, the transport cart being used to move relative to the shelf along the length direction of the shelf, 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, 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 seeding wall system, which further includes: a transport track group, the transport track group including multiple layers of transport tracks and a charging layer spaced apart along the height direction, the charging layer including multiple charging positions spaced apart along the length direction, the charging positions being connected to the controller; a lifting cabin, the lifting cabin being arranged on opposite sides of the transport track group along the length direction, the lifting cabin having a lifting mechanism, the lifting mechanism being connected to the controller, the lifting mechanism being 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 including multiple lifting guide rails spaced apart along the height direction, the multiple lifting guide rails being capable of moving along the height direction to correspond to the multiple layers of the transport tracks and the charging layer.

[0017] An embodiment of the present invention further discloses a computer storage medium, comprising a memory and a processor, wherein the memory is adapted to store computer instructions, and the processor is adapted to execute any one of the above-mentioned scheduling methods when running the computer instructions.

[0018] An embodiment of the present invention further discloses a computer program product, including a computer program / instruction, which implements any of the above-mentioned scheduling methods when executed by a processor.

[0019] In order to make the above contents of the present invention more clearly understood, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram illustrating a scenario of a seed wall system according to an embodiment of the present invention;

[0021] Figure 2 A perspective view showing a transport track assembly, a transport trolley, a lifting cabin, and a conveying device of a sowing wall system according to an embodiment of the present invention;

[0022] Figure 3 A perspective view showing a portion of the lowest level transport track, a transport trolley, a lifting cabin, and a conveying device of a sowing wall system according to an embodiment of the present invention, wherein an input device and a display device are not shown;

[0023] Figure 4 A perspective view showing a portion of a shelf of a plant wall system according to an embodiment of the present invention;

[0024] Figure 5 A perspective view showing a portion of the lowest level transport track, a transport trolley, a lifting cabin, and a conveying device of a sowing wall system according to an embodiment of the present invention, wherein an input device and a display device are also shown;

[0025] Figure 6 A flowchart showing a scheduling method according to an embodiment of the present invention is shown;

[0026] Figure 7 A schematic diagram showing a transport track assembly, a transport trolley, and a lifting cabin of a sowing wall system according to an embodiment of the present invention, applicable to the first grid-dropping strategy;

[0027] Figure 8 A schematic diagram showing a transport track assembly, a transport trolley, and a lifting cabin of a sowing wall system according to an embodiment of the present invention, applicable to the second grid-dropping strategy;

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

[0029] Figure 10A block diagram of a system on chip (SoC) provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] The following is an explanation of the embodiments of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options 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, the following description will contain many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

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

[0032] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

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

[0034] In the description of this embodiment, it should be noted that, unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this embodiment based on specific circumstances.

[0035] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0036] Figure 1According to some embodiments of the present application, a schematic diagram of a seed wall system is shown.

[0037] refer to Figure 1 The present invention provides a seed wall system 1, comprising a transport track assembly 10, a transport trolley 20, a shelf 30, a lift cabin 40, a conveyor 50, and a controller (not shown). The controller is electrically connected to each of the transport trolley 20, lift cabin 40, and conveyor 50.

[0038] Among them, along the length direction of the sowing wall system 1 (such as Figure 1 As shown in the X direction), the transport track group 10 is located between the two lifting cabins 40. Figure 2 As shown, a lifting cabin 40 is provided on the left and right sides of the transport track group 10 along the length direction X, and each lifting cabin 40 has a height direction along the sowing wall system 1 (such as Figure 2 A lifting channel 41 extending (as shown in the Z direction).

[0039] Specifically, if Figure 1 and Figure 2 As shown, the transport track set 10 of the embodiment of the present application includes multiple layers along the height direction (such as Figure 1 The transport tracks 11 are arranged at intervals (as shown in the Z direction), and the transport tracks 11 of each layer extend along the length direction X. The transport trolley 20 can move along the transport tracks 11 to the lifting channel 41 of each lifting cabin 40, and the transport tracks 11 of each layer can accommodate multiple transport trolleys 20.

[0040] For example, the two lifting cabins 40 in the embodiment of the present application have the same structure, such as Figure 2 and Figure 3 As shown, each lifting cabin 40 includes a lifting mechanism 42 located in a lifting channel 41. Each lifting mechanism 42 includes a plurality of lifting guide rails 421 spaced apart along the height direction Z. 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 in the Z1 direction) or downward in the height direction (as shown in Figure 3 The lifting channel 41 is provided with a lifting mechanism 42 and a lifting mechanism 43, wherein the lifting mechanism 42 moves in a direction Z2 in the vertical direction to correspond to the transport track 11 to receive the transport trolley 20 from the transport track 11, and is capable of driving the transport trolley 20 located in the lifting channel 41 to move upward in the height direction Z1 or downward in the height direction Z2 so that the transport trolley 20 can move toward the transport track 11.

[0041] Exemplarily, the lifting mechanism 42 moves upward or downward in the lifting channel 41. When the lifting guide rail 421 of the lifting mechanism 42 moves to the corresponding transport track 11 of the corresponding number of layers, the transport trolley 20 on the transport track 11 moves from the transport track 11 to the lifting guide rail 421 of the lifting mechanism 42. The lifting guide rail 421 carries the transport trolley 20 and drives the transport trolley 20 to move upward or downward in the lifting channel 41. When it moves to the corresponding transport track 11 of the corresponding number of layers, the transport trolley 20 on the lifting guide rail 421 moves from the lifting guide rail 421 to the transport track 11.

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

[0043] Continue to refer Figure 1 , along the width direction of the sowing wall system 1 (such as Figure 1 (As shown in the Y direction in the figure), the aforementioned shelves 30 are located on opposite sides of the transport track assembly 10. That is, in the embodiment of the present application, shelves 30 are located on both sides of the transport track assembly 10 in the width direction Y. However, this is not limiting. For example, in some possible embodiments, shelves 30 may be located on only one side of the transport track assembly 10 in the width direction Y.

[0044] And, as Figure 4 As shown, the shelf 30 of the embodiment of the present application includes: multiple layers of grid groups spaced apart along the height direction Z, each layer of the grid group includes multiple chutes 31 spaced apart along the length direction X, each chute 31 has an entrance 311 and an exit 312, each chute 31 is inclined downward from the entrance 311 to the exit 312, and the entrance 311 of each chute 31 is used to receive goods transferred from the transport trolley 20. Each layer of the grid group also includes multiple grids 32, and the multiple grids 32 correspond one-to-one to the multiple chutes 31. Each chute 31 is provided with a grid 32 at its exit 312. Goods transferred by the transport 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.

[0045] For example, Figure 1 As shown, the multiple grid layers of the embodiment of the present application correspond one-to-one to the above-mentioned multi-layer transport track 11, so that the transport trolley 20 of the embodiment of the present application can move along the transport track 11 to transfer the goods carried by the transport trolley 20 to each grid 32 in the corresponding grid layer.

[0046] Furthermore, the transport trolley 20 of the embodiment of the present application can switch between transport tracks 11 on different levels through the lifting cabin 40 to reach different transport tracks 11, and can transmit the goods (for example, target objects) carried by the transport trolley 20 to each grid 32 in the corresponding different grid layers to realize sorting of the goods.

[0047] Continue to refer Figure 4 and combined Figure 1 The shelf 30 of the embodiment of the present application also includes a charging layer 33, which includes a plurality of charging positions 331 arranged at intervals along the length direction X, and each charging position 331 is used to charge a transport cart 20.

[0048] For example, Figure 4 As shown, along the height direction Z, the charging layer 33 is arranged above the multi-layer grid group, and each charging position 331 is used to receive the charging signals along the uppermost transport track 11e (see Figure 1 That is, the transport trolley 20 can move along the transport track 11e (see Figure 1 ) moves to the corresponding charging position 331 to charge at the corresponding charging position 331.

[0049] refer to Figure 5 and combined Figure 3 The aforementioned conveying device 50 is provided on one side of the transport track assembly 10 along the width direction Y. That is, in the embodiment of the present application, the conveying device 50 is provided on one side of the transport track assembly 10 along the width direction Y. The conveying device 50 is used to convey goods to the transport cart 20 on the transport track assembly 10 along the width direction Y. However, this is not limiting. For example, in some possible embodiments, the conveying devices 50 may be provided on opposite sides of the transport track assembly 10 along the width direction Y.

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

[0051] Continue to refer Figure 5 The seed wall system 1 of the embodiment of the present application further includes an input device 60, which 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 order information of goods (i.e., target objects described later) and send the order information to the controller. For example, Figure 5As shown, the seed wall system 1 of the embodiment of the present application further includes a display device 70 , which is disposed above the conveying device 50 along the height direction Z.

[0052] Continue to refer Figure 3 and Figure 5 The transport trolley 20 of the embodiment of the present application includes a transmission part 21, which is used to carry goods and transmit the goods to the shelf 30. Figure 3 and Figure 5 The Y1 and Y2 directions indicate the directions in which the transport unit 21 transports the goods. For example, the transport unit 21 is a conveyor belt, and driven by the conveyor belt, the goods can run along the Y1 or Y2 direction to achieve the loading and unloading actions of the goods described later.

[0053] Using this solution, the seed wall system 1 of the present embodiment can control the conveying unit 51 of the conveying device 50 and the transmission unit 21 of the transport vehicle 20 to synchronously transport goods through a controller, so that the goods conveyed by the conveying device 50 can be delivered to the transport vehicle 20 more quickly and carried by the transmission unit 21 of the transport vehicle 20, thereby accelerating the transfer of goods. Therefore, compared with existing seed wall scheduling methods, the seed wall system 1 of the present embodiment can accelerate picking speed, optimize the picking process, and further improve the sorting efficiency of the seed wall system 1.

[0054] It should be noted that the embodiment of the present application does not limit the specific structure of the conveying part 51 and the transmission part 21. It can be the above-mentioned conveyor belt. In other possible embodiments, it can also be a conveyor roller, etc., as long as it can realize the function of loading and unloading goods.

[0055] The following is based on Figures 1 to 5 The schematic diagram of the sowing wall system shown is Figures 6 to 8 The scheduling method of this application is described in detail.

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

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

[0058] S100: Obtain order information of a target object, and determine a target slot that matches the target object based on the order information.

[0059] Here, the controller of the embodiment of the present application may receive the order information of the target object (eg, the aforementioned goods) fed back by the input device 60 , and determine the target slot 32 that matches the target object based on the order information of the target object.

[0060] For example, the display device 70 of the embodiment of the present application is electrically connected to the controller. The display device 70 displays order information of the current target object 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 object (such as the number information of the slot 32 described later) and the server connection status. 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 display device 70 described above is a display, and the input device 60 is a fixed infrared barcode scanner; however, this is not limiting. In other possible embodiments, the display device 70 may also be a touch screen, and the input device 60 may also be a handheld pistol scanner or camera.

[0061] Exemplarily, the embodiment of the present application uses a controller to number multiple slots 32 of the shelf 30 to determine the position of the slot 32 with the set number on the shelf 30. The order information of the target object in the embodiment of the present application at least includes the numbering information of the slot 32 corresponding to the target object (i.e., the target slot).

[0062] Thus, the controller of the embodiment of the present application can determine the position of the slot 32 (ie, the target slot) on the shelf 30 according to the number information of the slot 32 corresponding to the target object. Figure 2 and 4 As shown, the shelf 30 of the embodiment of the present application has five layers of openings, and the five layers of openings respectively correspond to the five layers of transport tracks 11 in the transport track group 10. Figure 4 The figure shows a slot 32 located at the fourth slot layer. Accordingly, the slot 32 corresponding to the slot 32 is located at the fourth-layer transport track 11d (see FIG. Figure 7 ). Furthermore, the controller of the embodiment of the present application can determine the drop-off position corresponding to the numbered opening 32 on the corresponding transport track 11 in the transport track group 10 based on the position of the numbered opening 32 on the shelf 30.

[0063] It can be understood that the above-mentioned drop grid position 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 a set number, and can drive the transport part 21 of the transport trolley 20 through the controller to transport the target object along the width direction Y to the grid opening 32 with the set number.

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

[0065] Here, the controller of the embodiment of the present application selects a transport cart 20 that matches the target object from among the multiple transport carts 20 based on the order information for the target object obtained through the input device 60 and the WMS in step S100. In other words, the selected transport cart 20 is bound to the target object. The controller then controls the transport cart 20 to move along the transport track 11 to the loading position corresponding to the conveyor device 50.

[0066] For example, before determining the transport trolley 20 that matches the target object in the above-mentioned step S200 , step S201 needs to be performed.

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

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

[0069] Illustratively, the transport trolley 20 of 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). The first preset state of the transport trolley 20 at least indicates that the transport trolley 20 is not loaded with a target object; the second preset state of the transport trolley 20 at least indicates that the transport trolley 20 is not loaded with a target object and the transport trolley 20 is not in a charging state, that is, the battery capacity of the transport trolley 20 is greater than or equal to a preset value, and the transport trolley 20 does not need to be moved to the aforementioned charging position 331 for charging; the third preset state of the transport trolley 20 at least indicates that the transport trolley 20 is not loaded with a target object and the transport trolley 20 is in a low-battery state, that is, the battery capacity of the transport trolley 20 is lower than a preset value, and the transport trolley 20 needs to be moved to the aforementioned charging position 331 for charging.

[0070] However, the embodiment of the present application does not limit the type of preset state of the transport trolley 20 and the specific content of each preset state, as long as the transport trolley 20 can transmit signals 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 of the embodiment of the present application determines through step S201 that the transport trolley 20 is in the second preset state, it continues with the subsequent step S200 to determine a transport trolley 20 that matches the target object. The transport trolley 20 can be used to load the target object transported by the conveying device 50 and has sufficient power to avoid deadlock.

[0072] For example, Figure 3 and Figure 5As shown, the conveying device 50 of the embodiment of the present application is arranged toward the lowest transport track 11a of the transport track group 10, that is, the loading position of the embodiment of the present application is located at the lowest transport track 11a. Figure 5 The transport trolley 20 is shown at the loading position of the embodiment of the present application. At this time, the transport trolley 20 and the conveying portion 51 are arranged opposite to each other along the width direction Y.

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

[0074] For example, in step S200, the scheduling method of the embodiment of the present application selects the transport trolley 20 located on the lowest transport track 11a and closest to the loading position as the transport trolley 20 that matches 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, it is not limited to this. In other possible implementations, a transport trolley 20 located on another layer of transport track 11 and in the second preset state can also be selected as the transport trolley 20 that matches the target object. For example, a transport trolley 20 located on the second layer of transport track 11c (see Figure 7 ) of the transport trolley 20, and drives the transport trolley 20 to switch to the lowest transport track 11a through the above-mentioned lifting cabin 40, and move it to the loading position.

[0075] In addition, in the above step S200, after selecting the transport trolley 20 for transporting the target object, 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. Figure 3 and Figure 5 As shown, the conveying device 50 of the embodiment of the present application also includes a cache conveying part 52. Along the width direction Y, the cache conveying part 52 is arranged between the input device 60 and the conveying part 51. The cache 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 conveyor 52 of the embodiment of the present application can dynamically buffer goods, making full use of the time waiting for the transport trolley 20 to move to the loading position, thereby increasing the cargo handling capacity of the seed wall system 1 of the embodiment of the present application and further improving the work efficiency of sorting goods. Figure 5 The Y1 direction shows the direction in which the buffer conveying unit 52 conveys goods.

[0077] S300: Determine that the transport trolley is located at the loading position, drive the conveying unit and the transmission unit to synchronously convey the target object to the transport trolley, and determine that the target object is located on the transport trolley.

[0078] For example, Figure 5 As shown, the conveyor device 50, in response to the received conveying instruction, conveys the goods (not shown) along the width direction Y to below the input device 60, where the input device 60 scans the goods' order number. The controller then retrieves the order information for the goods (i.e., the aforementioned target item) from the WMS based on the goods' order number. Then, while waiting for the transport cart 20 to move to the loading position, the conveyor device 50, in response to the received conveying instruction, continues to convey the goods along the width direction Y to the aforementioned buffer conveyor portion 52 to buffer the goods.

[0079] However, this is not limited to this. For example, in other possible implementations, the conveying device 50 of the embodiment of the present application can also directly convey the goods to the conveying part 51, that is, the conveying device 50 is not provided with a buffer conveying part 52.

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

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

[0082] By adopting the above-mentioned scheme, the seeding wall system 1 of the embodiment of the present application can control the conveying part 51 of the conveying device 50 and the transmission part 21 of the transport cart 20 through the controller to synchronously transport the goods, so that the goods conveyed by the conveying device 50 can be transported to the transport cart 20 faster and carried by the transmission part 21 of the transport cart 20 to speed up the transmission speed of the goods, thereby meeting the needs of efficient scheduling and improving sorting efficiency.

[0083] Furthermore, when the controller receives a signal indicating that the cargo is loaded into position on the transport section 21 (for example, a photoelectric signal transmitted to the controller when the sensor senses that the cargo is entirely located on the transport section 21), the controller determines that the cargo (i.e., the target object) is located on the transport cart 20, i.e., the transport cart 20 has completed loading of the cargo at the loading position, and can continue to execute the grid-dropping strategy described later.

[0084] For example, according to Figure 6 In step S100, the corresponding grid-dropping strategy can be determined.

[0085] refer to Figures 7 and 8 , of which there are two strategies for dropping the grid. Figure 7 , when the target compartment 32 is located in the shelf 30 as Figure 7 In the state shown, the first drop-grid strategy is selected. Under the first drop-grid 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] refer to Figure 8 , when the target compartment 32 is located in the shelf 30 as Figure 8 In the state shown, the second drop-grid strategy is selected. Under the second drop-grid strategy, the transport trolley 20 first drives the target object to move on the transport track 11 to 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 drop-grid position is located.

[0087] The specific grid-dropping strategy will be described in detail below with reference to the accompanying drawings.

[0088] S400: Determine a drop strategy based on the position of the target slot in the shelf.

[0089] Here, reference Figure 7 , the controller receives the order information of the target object, that is, the target opening 32 is located at the bottom layer of the shelf 30, and the drop position corresponding to the target opening 32 (such as Figure 7 The solid line box marked with N in the middle) and the loading position (as shown in Figure 7 The dotted box marked with the number O) is on the same transport track 11 (for example Figure 7 The lowest transport track 11a shown in FIG) determines that the drop-grid strategy is the first drop-grid strategy, and transmits the signal to the transport trolley 20.

[0090] S500: According to the drop grid strategy, the transport trolley is driven to move to the drop grid position, and the transmission part is driven to transport the target object to the target grid opening.

[0091] Specifically, refer to Figure 7 When it is determined in the above step S400 that the drop position N and the loading position O are both located on the lowest transport track 11 a (ie, located on the same transport track 11 ), the process proceeds to step S501 described below.

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

[0093] Specifically, refer to Figure 7 Based on the received drop-off strategy, the transport trolley 20 simultaneously moves the target object along the longitudinal direction X on the lowest transport track 11a to the drop-off position N. Specifically, the transport trolley 20 moves on the lowest transport track 11a to the position corresponding to the target slot. Specifically, the transport unit 21 of the transport trolley 20 now faces the entrance of the chute corresponding to the target slot (not shown), and the process proceeds to step S502, described below.

[0094] S502: Determine that the target opening is in a normal state, and drive the transport unit to move along the width direction and in a direction close to the target opening, so as to transport the target object to the target opening.

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

[0096] For example, each slot 32 in the embodiment of the present application has a slot indicator light (not shown) and a slot display screen (not shown). The slot indicator light can display the slot status (e.g., normal status or locked status as described above). The slot indicator light button can also be used to lock or unlock the slot 32. For example, after sorting is complete for a slot 32, the operator can press the lock button (i.e., the slot indicator light button) to package the goods stored in the slot 32. The slot display screen can dynamically display information such as the process, work section, and slot status of the slot 32.

[0097] Specifically, the controller determines that the target opening 32 is in a normal state based on the normal signal received from the target opening 32. At this time, the transport vehicle 20 can transport the target object to the target opening 32 via the transport unit 21. Specifically, the transport unit 21 transports the target object along the width direction Y toward the entrance of the chute corresponding to the target opening 32, so that the target object can slide along the chute into the target opening 32.

[0098] The above-mentioned scheduling method drives the conveying part 51 of the conveying device 50 and the transmission part 21 of the transport trolley 20 to convey the goods synchronously to speed up the transmission speed of the goods, and then determines the drop-off strategy by determining the drop-off position corresponding to the target grid 32, so as to realize the sorting of the target object into the target grid 32. The entire process is completed by the conveying device 50 and the transport trolley 20, and no manual sorting is required, which saves labor costs and improves efficiency. At the same time, it can more efficiently optimize the path planning of the transport trolley 20 to meet the needs of efficient scheduling.

[0099] When the position of the target grid opening 32 changes, a different grid dropping strategy needs to be selected accordingly. Figure 7 The position changes shown are Figure 8 When the position shown is reached, the drop-grid strategy will be changed from the first drop-grid strategy to the second drop-grid strategy. Figure 8 The second drop-grid strategy is described in detail.

[0100] S500: According to the grid-dropping strategy, the transport trolley and the transmission unit are driven to transport the target object to the target grid opening.

[0101] Specifically, refer to Figure 8 When it is determined in the above step S400 that the drop position N is on the third-layer transport track 11b, and the loading position O is on the lowest-layer transport track 11a, that is, the drop position N and the loading position O are on different layers of the transport track 11, proceed to the following step S501.

[0102] S501: Determine that the drop position and the loading position are located on different transport tracks, and drive the transport trolley to move along the length direction of the shelf and toward the lifting cabin; determine that the transport trolley is located 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 drop position; drive the transport trolley to move along the length direction to the drop position.

[0103] For example, Figure 8 As shown, in the embodiment of the present application, the transport trolley 20 enters the lifting channel 41 of the left lifting cabin 40 along the lowest transport track 11a, is lifted upward in the lifting channel 41 of the left lifting cabin 40, and then enters the transport track 11 of the corresponding layer, moves along the transport track 11 to 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 lowest transport track 11a again, forming Figure 8 Circular motion path A shown.

[0104] Those skilled in the art will appreciate that the transport trolley 20 can also circulate between the left lift cabin 40, the transport track assembly 10, and the right lift cabin 40 along a motion path opposite to the aforementioned cyclic motion path A. For ease of understanding, the following description of the present application will take the cyclic motion path A of the transport trolley 20 as an example.

[0105] Specifically, refer to Figure 8 The transport trolley 20, based on the received drop-off strategy, simultaneously drives the target object along the longitudinal direction X on the lowest transport track 11a toward the lift cabin 40 located on the left side of the transport track assembly 10. After the controller receives a signal from the lift cabin 40 permitting entry, the transport trolley 20 continues to drive the target object onto the lift guide rail 421 within the lift cabin 40. The controller then transmits a level-changing signal to the lift mechanism 42 of the lift cabin 40. The lift mechanism 42 executes a level-changing action, driving the lift guide rail 421 to drive the transport trolley 20 upward in the height direction Z1 to correspond to the third-level transport track 11b. After receiving the movement command transmitted by the controller, the transport trolley 20 continues to drive the target object along the longitudinal direction X toward the third-level transport track 11b to the drop-off position, and then proceeds to step S502 described below.

[0106] S502: Determine that the target opening is in a normal state, and drive the transport unit to move along the width direction and in a direction close to the target opening, so as to transport the target object to the target opening.

[0107] Specifically, the controller determines that the target opening 32 is in a normal state based on the normal signal received from the target opening 32. At this time, the transport vehicle 20 can transport the target object to the target opening 32 via the transport unit 21. Specifically, the transport unit 21 transports the target object along the width direction Y toward the entrance of the chute corresponding to the target opening 32, so that the target object can slide along the chute into the target opening 32.

[0108] In the above-described embodiment, the scheduling method of the present invention is capable of driving the transport trolley 20 in the height direction Z by the lifting cabin 40, thereby enabling the transport trolley 20 to switch between the multi-layer transport tracks 11. Based on this, to further improve the sorting efficiency of the present invention, the scheduling method of the present invention further includes steps S600 and S601.

[0109] S600: Determine that at least two lifting guide rails carry transport trolleys, and at least two lifting guide rails move to the transport rails corresponding to the drop position of the transport trolley, and drive the transport trolley to move along the length direction toward the corresponding transport rails.

[0110] Specifically, the controller receives a signal transmitted by the lifting mechanism 42 of the left lifting cabin 40, that is, Figure 7As shown, there are two lifting guide rails 421 in the lifting mechanism 42 carrying the transport trolley 20. At this time, the two lifting guide rails 421 move along the height direction Z to the position aligned with the two transport rails (i.e. Figure 7 The second transport track 11c and the fourth transport track 11d correspond to each other, and the two transport tracks 11c and 11d are respectively provided with two drop-off positions (such as Figure 7 The controller determines that the two transport trolleys 20 on the two lifting guide rails 421 in the left lifting cabin 40 can both move to the corresponding transport tracks 11.

[0111] Then, the controller sends signals to the two transport trolleys 20 respectively, so that the two transport trolleys 20 move along the length direction X toward the corresponding drop position on the transport track 11 (such as Figure 7 Move to the middle grid positions N1 and N2).

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

[0113] Therefore, by adopting the above technical solution, the scheduling method of the embodiment of the present application can drive multiple transport trolleys 20 to enter the corresponding transport rails 11 synchronously when controlling the transport trolley 20 to switch between different layers of transport rails 11 from the lowest layer of transport rail 11a through the lifting cabin 40, without waiting for the multiple transport trolleys 20 in the lifting mechanism 42 to move into the corresponding transport rails 11 in turn, which can save the layer changing time of the transport trolley 20 and improve the sorting efficiency.

[0114] S601: Determine that at least two lifting guide rails are not carrying transport trolleys, and at least two lifting guide rails move to correspond to at least two layers of transport rails respectively, and drive the transport trolleys in the first preset state on at least two layers of transport rails to move along the length direction toward the at least two lifting guide rails respectively.

[0115] Specifically, the controller receives a signal transmitted by the lifting mechanism 42 of the right lifting cabin 40, that is, Figure 8 As shown, there are two lifting guide rails 421 in the lifting mechanism 42 that do not carry the transport trolley 20. At this time, the two lifting guide rails 421 move along the height direction Z to the position aligned with the two transport rails (i.e. Figure 8The controller determines that the two lifting guide rails 421 in the right lifting cabin 40 are both capable of carrying the transport trolley 20 so that the transport trolley 20 moves to the corresponding transport track 11.

[0116] Then, the controller receives the status signals fed back from the transport trolleys 20 in the corresponding transport rails 11b and 11c respectively to determine that the transport trolleys 20 in the transport rails 11b and 11c are in the first preset state, that is, the transport trolleys 20 are not carrying goods. Then, the controller sends signals to the above-mentioned transport trolleys 20 in the first preset state respectively, so that the transport trolleys 20 that are not carrying goods move along the length direction X toward the corresponding lifting guide rail 421 after receiving the movement instructions transmitted by the controller, and after the transport trolley 20 enters the right lifting cabin 40, the lifting mechanism 42 of the right lifting cabin 40 drives the transport trolley 20 to move synchronously along the height direction Z, so that the transport trolley 20 switches to the corresponding transport rail 11.

[0117] Furthermore, by adopting the above-mentioned technical solution, the scheduling method of the embodiment of the present application can drive the transport trolleys 20 that are not carrying goods in the multi-layer transport track 11 to enter the lifting guide rail 421 of the lifting cabin 40 that is not carrying the transport trolley 20 when controlling the transport trolley 20 to switch from the transport track 11 of different layers to the lowest layer transport track 11a through the lifting cabin 40, that is, the transport trolleys 20 that have completed the grid-dropping action synchronously enter the corresponding lifting guide rail 421 of the non-carrying transport trolley 20 in the lifting cabin 40, without waiting for the transport trolleys 20 that have completed the grid-dropping action in the multi-layer transport track 11 to switch to the corresponding transport track 11 through the lifting cabin 40 in turn, which can improve the processing efficiency of the lifting cabin 40, synchronously drive multiple transport trolleys 20 to move along the height direction Z, further save the layer-changing time of the transport trolley 20, and effectively avoid congestion and empty conditions.

[0118] In step S201, the controller receives a status signal fed back by the transport trolley 20 to determine the status information of the transport trolley 20, such as the power level of the transport trolley 20. Based on this, in order to automatically dispatch the transport trolley 20 to the charging layer 33 for charging, the dispatching method of the embodiment of the present application further includes steps S700 to S702.

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

[0120] Specifically, the controller determines, based on the status signal fed back by the transport trolley 20, that the transport trolley 20 is in a third preset state, i.e., the transport trolley 20 is unloaded and in a low-battery state. The controller then sends a movement command to the transport trolley 20, causing it to move toward the left lift cabin 40 upon receiving the movement command.

[0121] S701: Determine that the transport trolley is located 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 transport track corresponding to the charging layer.

[0122] Specifically, after the transport trolley 20 moves toward the left lifting cabin 40 in the above step S700, the controller receives the signal of permission to enter the lifting cabin 40, and the transport trolley 20 continues to move to the lifting guide rail 421 in the left lifting cabin 40. Then the controller transmits a layer-changing signal to the lifting mechanism 42, and the lifting mechanism 42 executes the 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 top transport track 11e shown in FIG), then proceeds to step S702 described later.

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

[0124] Specifically, the controller determines that the lifting guide rail 421 has moved to the transport track 11 corresponding to the charging layer 33 based on the signal feedback from the lifting mechanism 42, and then the controller sends a movement instruction to the transport cart 20, so that the transport cart 20 moves to the top transport track 11e along the length direction X after receiving the movement instruction, and continues to move to the charging position 331, that is, the transport cart 20 in the third preset state moves to the position corresponding to the charging position 331 on the top transport track 11e for charging, and returns to work after charging is completed and the movement instruction is received, so as to ensure that the seed wall system 1 using the scheduling method of the embodiment of the present application can operate stably in an orderly, efficient, accurate and stable manner.

[0125] It should be noted that the scheduling method of the present application is not limited to the above-mentioned application scenarios. Any application scenario that requires rapid sorting of items can be implemented by the scheduling method of the present application. For example, it can also be the sorting of products in a factory assembly line.

[0126] Furthermore, the embodiment of the present application does not limit the specific structure of the transport trolley 20. For example, in the above embodiment, the transport trolley 20 is an RGV trolley; but not limited to this, the transport trolley 20 of 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, wherein the memory is suitable for storing computer instructions, and the processor is suitable for executing the scheduling method described in any of the above embodiments when running the computer instructions.

[0128] Now refer to Figure 9 , shown is a block diagram of an electronic device 800 according to 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 a 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 separate chips) (not shown), wherein the GMCH includes memory and graphics controllers and is coupled to the IOH.

[0129] The electronic device 800 may further include a coprocessor 802 and a memory 804 coupled to a controller hub 803. Alternatively, one or both of the memory and the GMCH may be integrated within the processor, with the memory 804 and the coprocessor 802 directly coupled to the processor 801 and the controller hub 803, with the controller hub 803 and the IOH being 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 thereof. The memory 804 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of the instructions. The instructions may include: when executed by at least one of the processors, causing the electronic device 800 to perform the following operations: Figure 6 When the instructions are executed on a computer, the computer executes the method disclosed in any one of the above embodiments or a combination of the embodiments to sort the goods (ie, the target objects) into different slots 32 of the shelf 30 .

[0131] In one embodiment, the coprocessor 802 is a special-purpose 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. The optional nature of the coprocessor 802 is indicated by a dashed line in FIG. Figure 9 middle.

[0132] In one embodiment, electronic device 800 may further include a network interface controller (NIC) 806. Network interface 806 may include a transceiver for providing a radio interface for electronic device 800, thereby enabling communication with any other suitable device (e.g., a front-end module, an antenna, etc.). In various embodiments, network interface 806 may be integrated with other components of electronic device 800. Network interface 806 may implement the functionality of the communication unit described in the above embodiments.

[0133] The electronic device 800 may further include input / output (I / O) devices 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 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 is worth noting that Figure 9 This is for illustrative purposes only. Figure 9 It is shown that the electronic device 800 includes multiple devices such as a processor 801, a controller hub 803, a memory 804, etc. However, in actual applications, the devices using the methods of the present application may only include a part of the devices of the electronic device 800, for example, it may only include the processor 801 and the network interface 806. Figure 9 The properties of the optional devices are shown with dotted lines.

[0135] Now refer to Figure 10 , which is a block diagram of a SoC (System on Chip) 900 according to an embodiment of the present application. Figure 10 In FIG, similar components have the same reference numerals. In addition, the dashed boxes are optional features of more advanced SoCs. Figure 10In the embodiment, the SoC includes: an interconnect unit 950 coupled to a processor 910; a system agent unit 980; a bus controller unit 990; an integrated memory controller unit 940; a set 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 coprocessors 920 include specialized processors, such as network or communication processors, compression engines, GPGPUs (General-purpose computing on graphics processing units), high-throughput MIC processors, or embedded processors.

[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. The computer-readable storage medium stores instructions, and more specifically, temporary and permanent copies of the instructions. The instructions may include instructions that, when executed by at least one of the processors, cause the SoC to implement the following: Figure 6 When the instructions are executed on a computer, the computer executes the method disclosed in the above embodiment.

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

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

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

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

[0141] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried by or stored on one or more transitory or non-transitory machine-readable (e.g., computer-readable) storage media, which can be read and executed by one or more processors. For example, the instructions may be distributed over a network or via other computer-readable media. Thus, a machine-readable medium may 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 disks, 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 storage for transmitting information via the Internet using electrical, optical, acoustic, or other propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Accordingly, 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 (eg, a computer).

[0142] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, it should be understood by those skilled in the art that the above description is provided as a further detailed description of the present invention in conjunction with specific embodiments thereof, and that the specific implementation of the present invention is not limited to these descriptions. Those skilled in the art may make various changes in form and details, including simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A scheduling method is applied to a seed wall system, wherein the seed wall system includes a plurality of transport trolleys, shelves and conveying devices, each of the transport trolleys includes a conveying part, the transport trolley is used to move relative to the shelf, the conveying part is used to carry the target and convey the target along the width direction of the shelf, the shelf includes a plurality of grids, each of the grids is used to accommodate the target, the conveying device includes a conveying part and a buffer conveying part, the conveying part is used to convey the target along the width direction, the buffer conveying part is used to convey the target along the width direction, the seed wall system also includes a transport track group, the transport track group includes multiple layers arranged at intervals along the height direction of the shelf The transport track is arranged on each layer, and each layer of the transport track is used for multiple transport carts to move along the transport track. The seed wall system also includes a lifting cabin, which is arranged on opposite sides of the transport track group along the length direction. The lifting cabin has a lifting mechanism, and the lifting mechanism is used to drive the transport cart to move along the height direction so that the transport cart can switch between multiple layers of the transport track. The lifting mechanism of the lifting cabin includes multiple lifting rails arranged at intervals along the height direction. Multiple lifting rails can move along the height direction to correspond to multiple layers of the transport track. The shelf also includes a charging layer, and the charging layer includes multiple charging positions arranged at intervals along the length direction, which is characterized in that The scheduling method includes: Acquiring order information of the target object, and determining a target slot matching the target object based on the order information; Determine a transport trolley that matches the target object, drive the transport trolley to move to a loading position, and drive the buffer conveying unit to convey the target object to the conveying unit, wherein the loading position corresponds to the conveying device; Determining that the transport trolley is located at the loading position, driving the conveying unit and the transmission unit to synchronously convey the target object to convey the target object to the transport trolley, and determining that the target object is located on the transport trolley; Determining a drop-off strategy based on the position of the target slot in the shelf; According to the drop grid strategy, the transport trolley is driven to move to the drop grid position, and the transmission unit is driven to transport the target object to the target grid opening, wherein the drop grid position corresponds to the target grid opening; The scheduling method further includes: Determining that at least two lifting guide rails of the lifting cabin located on one side of the transport track group carry a transport trolley, and the at least two lifting guide rails are respectively moved to the transport tracks corresponding to the drop positions of the transport trolley, and driving the transport trolley to move along the length direction toward the corresponding transport tracks; Determining that at least two lifting guide rails of the lifting cabin located on the other side of the transport track set are not carrying a transport trolley, and that the at least two lifting guide rails are respectively moved to correspond to at least two layers of transport tracks, and driving the transport trolleys in a first preset state on the at least two layers of transport tracks to move respectively along the length direction toward the at least two lifting guide rails; the first preset state at least indicates that the transport trolley is not loaded with the target object; The determining of a drop-off strategy based on the position of the target slot in the shelf includes: Determining that the drop position and the loading position are located on the same transport track, and driving the transport trolley to move along the length direction of the shelf to the drop position; Determining that the target opening is in a normal state, and driving the transmission unit to transport the target object to the target opening; The determining of the drop strategy based on the position of the target slot in the shelf further includes: Determining that the drop position and the loading position are located on different transport tracks, and driving the transport trolley to move along the length direction of the shelf and toward the lifting cabin; Determining that the transport trolley is located at the lifting cabin, controlling the lifting cabin to drive the transport trolley to move along the height direction, so that the transport trolley switches to the same transport track as the drop grid position; driving the transport trolley to move along the length direction to the drop position; Determining that the target opening is in a normal state, and driving the transmission unit to transport the target object to the target opening; The scheduling method further includes: Determining that the transport trolley is in a third preset state, driving the transport trolley to move along the length direction and toward the lifting cabin, wherein the third preset state at least indicates that the transport trolley is not loaded with the target object and is in a low-battery state; Determining that the transport trolley is located in the lifting cabin, controlling the lifting cabin to drive the transport trolley to move along the height direction, so that the transport trolley switches to the transport track corresponding to the charging layer; The transport trolley is driven to move along the length direction to the charging position.

2. The scheduling method according to claim 1, characterized in that: The scheduling method further includes: Before determining a transport trolley that matches the target object, it is determined that the transport trolley is in a second preset state, where the second preset state at least indicates that the transport trolley is not loaded with the target object and is not in a charging state.

3. A sowing wall system, characterized in that: include: A controller, wherein the controller is respectively connected to the conveying device, multiple transport trolleys, charging positions and lifting mechanisms, and the controller is used to execute the scheduling method described in claim 1 or 2.

4. A computer storage medium, characterized in that The method comprises a memory and a processor, wherein 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 or 2 when running the computer instructions.

5. A computer program product, characterized in that The method comprises a computer program / instruction, which implements the scheduling method according to any one of claims 1 or 2 when executed by a processor.

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