Connection type dispatching system and method of same-rail stacking machine

Abstract

The invention belongs to the technical field of piling cars, and provides a connection type dispatching system and method of a same-rail stacking machine. The method comprises the following steps: receiving a scheduling request signal sent by a first stacker, and obtaining second working information of a second stacker based on the scheduling request signal; based on the first working information and the second working information, a first efficiency evaluation value of the way-giving scheduling mode is obtained through evaluation, and a second efficiency evaluation value of the connection type scheduling mode is obtained through evaluation; comparing the first efficiency evaluation value with the second efficiency evaluation value, and if it is determined that a connection type scheduling mode is executed based on a comparison result, generating a connection type scheduling strategy; and the first stacking machine is controlled to transfer the cargoes carried by the first stacking machine to the unoccupied storage cells of the second stacking machine, and the second stacking machine places the received cargoes of the first stacking machine at the designated position. According to the method, efficiency evaluation is carried out on the two scheduling strategies, and a better connection type scheduling strategy is selected, so that the resources of the same-rail stacker are utilized more reasonably.

Description

Technical Field

[0001] The present invention relates to the technical field of stacker cranes, and in particular to a docking type dispatching system and method for same-track stacker cranes. Background Art

[0002] Co-track stacker cranes are two or more stacker cranes operating simultaneously on the same track. Through precise navigation, scheduling, and collision avoidance systems, they achieve efficient cargo handling and storage management. In a warehouse, multiple stacker cranes are deployed on the same track. If stacker crane A is loading, unloading, or simply traveling normally in area B, and stacker crane C arrives and attempts to pass through area B, stacker cranes A and C must be scheduled to ensure smooth passage through area B while minimizing interference with stacker crane A.

[0003] In order to solve the above conflict scheduling, the existing technology is to set up waiting areas on the track, such as Figure 1 As shown, a pre-set rule determines which stacker crane yields (for example, a stacker crane with a lower task priority is set to yield). The yielding stacker crane enters the adjacent yield track area, allowing the other stacker crane to pass smoothly. The yielding stacker crane then exits the yield track area and passes through it. This scheduling method only works if there is a yield track area near the conflicting area. Otherwise, the yielding stacker crane would need to travel a long distance, resulting in inefficient cargo management in the storage area.

[0004] In response to the above technical problems, the present invention proposes a docking scheduling solution to resolve traffic conflicts between stackers even when there is no yield track area near the conflict area, and to ensure that the cargo management efficiency in the storage area is at a high level. Summary of the Invention

[0005] To this end, the present invention provides a docking scheduling method, system, electronic equipment, computer storage medium and computer program product for a same-track stacker to solve the above technical problems.

[0006] The present invention discloses a shuttle scheduling method for stackers on the same track, which is applied to a stacker scheduling server, the method comprising the following steps: receiving a scheduling request signal sent by a first stacker, and obtaining second working information of a second stacker based on the scheduling request signal; wherein the first stacker and the second stacker are arranged on the same track, and the scheduling request signal includes identity information of the second stacker and first working information of the first stacker; evaluating a first efficiency evaluation value of a yield scheduling method based on the first working information and the second working information, and evaluating a second efficiency evaluation value of a shuttle scheduling method; comparing the first efficiency evaluation value and the second efficiency evaluation value, and generating a shuttle scheduling strategy if it is determined to execute the shuttle scheduling method based on the comparison result; controlling the first stacker to transfer the goods it carries to an empty storage compartment of the second stacker, the first stacker returns to undertake other carrying tasks, and the second stacker places the goods received from the first stacker at a designated location.

[0007] Preferably, the first efficiency evaluation value of the yield scheduling mode evaluated based on the first working information and the second working information, and the second efficiency evaluation value of the shuttle scheduling mode evaluated based on the first working information, include: obtaining the working information of several other stackers in the storage area, and integrating the working information into third working information; using the first evaluation model to evaluate the first working information and the third working information to obtain a third efficiency evaluation value, and using the second evaluation model to evaluate the second working information and the third working information to obtain a fourth efficiency evaluation value; determining the first distance between the first stacker and the yield track area in the yield scheduling mode, and determining the equivalent value of the distance between each designated position and the current position of the goods carried by the first stacker in the shuttle scheduling mode, that is, the second distance; deriving a first coefficient based on the first distance comparison, and deriving a second coefficient based on the second distance comparison, and using the first coefficient and the second coefficient to correct the third efficiency evaluation value and the fourth efficiency evaluation value respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

[0008] Preferably, controlling the first stacker to transfer the goods it carries to the vacant storage compartment of the second stacker includes: sending a pause instruction to the first stacker and the second stacker, the pause instruction including pause period information and target vacant storage compartment information; wherein, the pause instruction is used to trigger the second stacker to suspend operation; controlling the first stacker to transfer the goods it carries to the target vacant storage compartment of the second stacker.

[0009] Preferably, the dispatch request signal is generated in the following manner: when the first stacker detects that it is blocked by the second stacker, it determines whether the current area belongs to a busy track area. If so, it generates the dispatch request signal and sends it to the stacker dispatch server; wherein, the first stacker stores a track distribution map of the storage area, and the track distribution map marks multiple busy track areas and their location information.

[0010] The present invention also discloses a docking scheduling system for stackers on the same track, which is applied to a stacker scheduling server. The system includes a receiving unit, an efficiency evaluation unit, a strategy generating unit, and an execution unit. The receiving unit is used to receive a scheduling request signal sent by a first stacker, and obtain second working information of a second stacker based on the scheduling request signal. The first stacker and the second stacker are arranged on the same track, and the scheduling request signal includes the identity information of the second stacker and the first working information of the first stacker. The efficiency evaluation unit is used to generate a strategy based on the first working information and the second working information. The information is evaluated to obtain a first efficiency evaluation value of the yield scheduling mode, and a second efficiency evaluation value of the shuttle scheduling mode is evaluated; the strategy generation unit is used to compare the first efficiency evaluation value and the second efficiency evaluation value, and if it is determined to execute the shuttle scheduling mode based on the comparison result, a shuttle scheduling strategy is generated; the execution unit is used to control the first stacker to transfer the goods it carries to the vacant storage compartment of the second stacker; and, control the first stacker to return to undertake other carrying tasks, and control the second stacker to place the goods received from the first stacker at a designated location.

[0011] Preferably, the efficiency evaluation unit is specifically used to: obtain the working information of several other stackers in the storage area, and integrate the working information into third working information; use the first evaluation model to evaluate the first working information and the third working information to obtain a third efficiency evaluation value, and use the second evaluation model to evaluate the second working information and the third working information to obtain a fourth efficiency evaluation value; determine the first distance between the first stacker and the yield track area in the yield scheduling method, and determine the equivalent value of the distance between each designated position and the current position of the goods carried by the first stacker in the shuttle scheduling method, that is, the second distance; derive a first coefficient based on the first distance comparison, and derive a second coefficient based on the second distance comparison, and use the first coefficient and the second coefficient to correct the third efficiency evaluation value and the fourth efficiency evaluation value respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

[0012] Preferably, the execution unit is specifically used to: send a pause instruction to the first stacker and the second stacker, the pause instruction including pause period information and target free storage compartment information; wherein, the pause instruction is used to trigger the second stacker to suspend operation; control the first stacker to transfer the goods it carries to the target free storage compartment of the second stacker.

[0013] Preferably, the dispatch request signal is generated in the following manner: when the first stacker detects that it is blocked by the second stacker, it determines whether the current area belongs to a busy track area. If so, it generates the dispatch request signal and sends it to the stacker dispatch server; wherein, the first stacker stores a track distribution map of the storage area, and the track distribution map marks multiple busy track areas and their location information.

[0014] The present invention also discloses an electronic device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the computer program implements any of the methods described above when executed by the processor.

[0015] The present invention further discloses a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any of the above items is implemented.

[0016] The present invention further discloses a computer program product. The computer program product contains computer program code. When the computer program code is executed by a processor, the method described in any one of the above items is implemented.

[0017] The beneficial effects of the present invention are: (1) the present invention achieves more rational utilization of the same-track stacker crane resources by evaluating the efficiency of the two scheduling strategies and selecting a more optimal docking scheduling strategy.

[0018] (2) Unlike existing technologies that rely on setting up a yield track area near the track, the docking scheduling method proposed in this invention does not require the yield stacker to find a yield track area, thus avoiding the situation where the yield stacker has to travel a long distance when there is no yield track area nearby. By directly docking goods between two stackers, the ineffective travel time of the stackers is reduced, greatly improving the management efficiency of goods in the storage area. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic diagram of a yield scheduling scenario in the prior art.

[0021] Figure 2 The present invention is a flowchart of a docking scheduling method for a same-track stacker crane disclosed in an embodiment of the present invention.

[0022] Figure 3 The present invention is a schematic structural diagram of a docking-type dispatching system for a same-track stacker crane disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The following specific embodiments illustrate the implementation of this application. Those familiar with the art can easily understand the other advantages and functions of this application from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of this application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0025] The reach stacker in the present invention has a self-moving function, that is, it can realize self-planning and movement execution of the path in the storage area at least with the cooperation of the camera and the navigation controller. Since it belongs to the existing technology, other functional components will not be described in detail.

[0026] like Figure 2 As shown, an embodiment of the present invention discloses a docking scheduling method for stackers on the same track, which is applied to a stacker scheduling server. The method includes the following steps: S100, receiving a scheduling request signal sent by a first stacker, and obtaining second working information of a second stacker based on the scheduling request signal; wherein the first stacker and the second stacker are arranged on the same track, and the scheduling request signal includes identity information of the second stacker and first working information of the first stacker.

[0027] In this step, when the first stacker attempts to pass through a certain area but is blocked by a second stacker, remote coordination with the dispatch server is initiated. The first stacker then sends a dispatch request signal to the stacker dispatch server. This dispatch request signal includes the second stacker's identity information and the first stacker's first operating information. Based on the identity information in the dispatch request signal, the dispatch server establishes communication with the second stacker and obtains the second stacker's second operating information. The first operating information includes, for example, the quantity, specifications (size, weight), and desired storage area of the cargo carried by the first stacker. The second operating information, in addition to the first operating information, also includes the number and specifications of available storage compartments (maximum size and weight of cargo they can accommodate).

[0028] S200: Based on the first work information and the second work information, a first efficiency evaluation value of the yield scheduling method is evaluated and a second efficiency evaluation value of the connecting scheduling method is evaluated.

[0029] In this step, the dispatch server performs efficiency evaluations on the yield scheduling method mentioned in the background art and the docking scheduling method used in the present invention based on the acquired first and second work information, obtaining first and second efficiency evaluation values, respectively. These efficiency evaluation values are used to characterize the overall operational efficiency of the entire storage area under the current circumstances, corresponding to the yield scheduling method or the docking scheduling method.

[0030] It should be noted that, in addition to directly affecting the operating efficiency of the first and second stackers, the yield scheduling and shuttle scheduling methods may also affect other stackers. For example, in the yield scheduling method, the first stacker may need other stackers to retreat to clear the part of the track entering the yield track area when moving toward the yield track area; in the shuttle scheduling method, the second stacker will change its original operating path, which will also require other stackers to change their operating paths or wait for yield. The above two factors have affected the operating efficiency of the entire storage area.

[0031] S300: Compare the first efficiency evaluation value and the second efficiency evaluation value. If it is determined based on the comparison result that a docking scheduling method is to be executed, generate a docking scheduling strategy.

[0032] In this step, the dispatch server compares the first and second efficiency evaluation values to determine which dispatch method can most efficiently complete the task under the current circumstances, that is, which one will achieve higher overall operational efficiency for the entire storage area. If the first efficiency evaluation value is lower than the second efficiency evaluation value, then docking dispatch is implemented, generating a docking dispatch strategy. Otherwise, conventional yielding dispatch is implemented, generating a yielding dispatch strategy.

[0033] S400, controlling the first stacker to transfer the cargo it carries to the vacant storage compartment of the second stacker, the first stacker returns to undertake other carrying tasks, and the second stacker places the cargo received from the first stacker at a designated location.

[0034] In this step, the dispatch server feeds the docking scheduling strategy back to the first stacker. The first stacker responds to the docking scheduling strategy by transferring its cargo to an empty storage compartment on the second stacker. This allows the first stacker to return to take on other transport tasks after completing the "handover" of cargo. The second stacker, after receiving the cargo from the first stacker, then takes over and places it in the designated location (the aforementioned required placement area obtained from the dispatch server or the first stacker). This setup significantly alleviates the issue of lengthy wait times that inevitably arise when performing yielding in conflicting areas.

[0035] This invention achieves more rational utilization of on-track stacker crane resources by evaluating the efficiency of two scheduling strategies and selecting the more optimal docking scheduling strategy. Furthermore, unlike existing technologies that rely on setting up yield tracks near the tracks, the docking scheduling method proposed in this invention eliminates the need for yielding stackers to search for yielding tracks, thus avoiding the need for yielding stackers to travel long distances when there are no yielding tracks nearby. By directly docking cargo between two stackers, the inefficient travel time of the stackers is reduced, significantly improving the efficiency of cargo management within the storage area.

[0036] Preferably, the first efficiency evaluation value of the yield scheduling mode evaluated based on the first working information and the second working information, and the second efficiency evaluation value of the shuttle scheduling mode evaluated based on the first working information, include: obtaining the working information of several other stackers in the storage area, and integrating the working information into third working information; using the first evaluation model to evaluate the first working information and the third working information to obtain a third efficiency evaluation value, and using the second evaluation model to evaluate the second working information and the third working information to obtain a fourth efficiency evaluation value; determining the first distance between the first stacker and the yield track area in the yield scheduling mode, and determining the equivalent value of the distance between each designated position and the current position of the goods carried by the first stacker in the shuttle scheduling mode, that is, the second distance; deriving a first coefficient based on the first distance comparison, and deriving a second coefficient based on the second distance comparison, and using the first coefficient and the second coefficient to correct the third efficiency evaluation value and the fourth efficiency evaluation value respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

[0037] In an embodiment of the present invention, in view of the fact that any scheduling method will interfere with other stackers in the storage area, thereby affecting the overall operating efficiency of the entire storage area. To this end, the present invention uses the pre-built above-mentioned model to simultaneously process the working information of the stackers directly involved in the scheduling and other stackers that may be interfered with, so as to obtain a preliminary third efficiency evaluation value and a fourth efficiency evaluation value. Among them, the several other stackers involved in the third working information may not be all other stackers in the entire storage area (that is, stackers other than the first stacker and the second stacker), but those stackers that are predicted to be affected by the yield scheduling method and the shuttle scheduling method, that is, the aforementioned stackers that need to retreat to make way for part of the track entering the yield track area, the stackers that need to change their operating path or need to wait for yielding, etc. The working information of other stackers preferably has the same content as the second working information.

[0038] Furthermore, the preliminary third and fourth efficiency evaluation values above are derived under the assumption that there are no other traffic conflicts within the storage area and no other stacker cranes require conflict resolution by the dispatch server. However, in reality, other scheduling strategies may still be generated and implemented during the execution of yield or shuttle scheduling. This means that the third work information above is generally not absolutely "true." Therefore, the preliminary third and fourth efficiency evaluation values above are generally low.

[0039] To this end, the present invention sets up the use of adjustment coefficients to adjust and correct the two separately, so as to make them closer to the actual situation when the corresponding scheduling strategy is subsequently executed. In the process of executing the scheduling strategy, the greater the mileage of the first stacker, the longer it takes and the greater the probability of secondary conflicts with other stackers. Therefore, the present invention sets up the above adjustment coefficient based on "distance". Specifically: in the yield scheduling mode, the first distance between the first stacker and the most suitable (closest and idle) yield track area is determined. The larger this first distance is, the greater the probability that the first stacker will have unexpected secondary conflicts with other stackers during the yield scheduling process (for example, other stackers are also executing the scheduling strategy and conflict with the first stacker). Correspondingly, the smaller the first coefficient is set, for example, to 0.7, and vice versa, it is set to, for example, 0.9.

[0040] In docking scheduling, an equivalent value, or second distance, is determined between each designated location and the current location of the cargo carried by the first stacker. This equivalent value can be, for example, the average, median, or maximum value of each distance. This second distance reflects the additional travel cost required by the second stacker to transport the cargo (the cargo taken over by the first stacker) when docking scheduling is used. Similar to the above, the greater the second distance, the greater the probability that the second stacker will encounter unexpected secondary conflicts with other stackers during the docking scheduling process (for example, other stackers are also executing the scheduling strategy and conflict with the second stacker). Accordingly, the smaller the second coefficient, for example, 0.6, is set; otherwise, it is set to 0.8.

[0041] Finally, the third efficiency evaluation value is multiplied by the first coefficient and the fourth efficiency evaluation value is multiplied by the second coefficient, thereby achieving the above-mentioned correction, so that the obtained efficiency evaluation value is closer to the actual situation.

[0042] It is worth further explaining that, by pre-establishing multiple correspondence tables of the first distance-first coefficient and the second distance-second coefficient, the corresponding first coefficient and second coefficient can be obtained by comparing the obtained first distance and second distance with the corresponding correspondence tables.

[0043] Furthermore, the first evaluation model and the second evaluation model preferably both include a feature extraction structure, an analysis and processing structure, and an evaluation structure. The feature extraction structure is preferably constructed based on a CNN, and is used to extract dynamic features of the storage area from the massive amount of work information. The analysis and processing structure is preferably constructed based on a CNN or graph convolutional neural network, and uses these dynamic features to analyze the cargo transportation time of the entire storage area. The evaluation structure evaluates the aforementioned efficiency evaluation value based on the cargo transportation time and the corresponding comparison rules.

[0044] Preferably, controlling the first stacker to transfer the goods it carries to the vacant storage compartment of the second stacker includes: sending a pause instruction to the first stacker and the second stacker, the pause instruction including pause period information and target vacant storage compartment information; wherein, the pause instruction is used to trigger the second stacker to suspend operation; controlling the first stacker to transfer the goods it carries to the target vacant storage compartment of the second stacker.

[0045] In an embodiment of the present invention, after deciding to implement a docking scheduling method, the dispatch server sends a pause instruction to the first and second stackers. The pause instruction includes pause period information and target available storage compartment information. The pause period information allows the second stacker to pause while the first stacker is performing a cargo transfer operation, allowing the two stackers to perform the cargo transfer operation while relatively stationary, thereby improving operational safety and accuracy. The target available storage compartment information is the optimal placement location for the cargo on the first stacker, as determined by the dispatch server. For example, a stacker may have multiple storage compartments from top to bottom. During loading and unloading, the stacker adjusts the height of the storage compartments to align with the placement locations on the shelf. The drive mechanism then forks the cargo in the storage compartments to the corresponding placement locations. If the desired placement area is not within the second stacker's current operating path, the cargo is preferentially placed in a lower, available storage compartment that is suitable for the corresponding cargo (taking into account its specifications). This reduces the stacker's need to adjust the overall height of the storage compartments, thereby improving energy efficiency.

[0046] Preferably, the dispatch request signal is generated in the following manner: when the first stacker detects that it is blocked by the second stacker, it determines whether the current area belongs to a busy track area. If so, it generates the dispatch request signal and sends it to the stacker dispatch server; wherein, the first stacker stores a track distribution map of the storage area, and the track distribution map marks multiple busy track areas and their location information.

[0047] In an embodiment of the present invention, the first stacker continuously monitors its operating status during operation. If it detects that it is blocked by a second stacker on the same track, this indicates a potential conflict in the two stackers' trajectories, necessitating scheduling coordination. Furthermore, if the current area is not a busy track area (predetermined based on actual conditions), the first stacker can negotiate with the second stacker, exchanging tasks and determining which stacker will yield based on the priority of each task. This is known as offline yield scheduling, eliminating the need for coordination with the scheduling server and reducing the computing load on the scheduling server.

[0048] When the current area belongs to a busy track area, it is necessary to generate and send a dispatch request signal to the dispatch server in a timely manner to decide the best dispatch strategy to be adopted as soon as possible, avoid long-term congestion in the busy track area caused by unreasonable offline execution of yield dispatching methods, and reduce the probability of the overall operating efficiency of the storage area being excessively affected.

[0049] like Figure 3 As shown, an embodiment of the present invention further discloses a docking scheduling system for stacker cranes on the same track, which is applied to a stacker crane scheduling server. The system includes a receiving unit, an efficiency evaluation unit, a strategy generation unit, and an execution unit.

[0050] The receiving unit is used to receive a scheduling request signal sent by the first stacker and obtain second working information of the second stacker based on the scheduling request signal; wherein the first stacker and the second stacker are arranged on the same track, and the scheduling request signal includes the identity information of the second stacker and the first working information of the first stacker.

[0051] The efficiency evaluation unit is configured to evaluate a first efficiency evaluation value of the yield scheduling method based on the first work information and the second work information, and to evaluate a second efficiency evaluation value of the shuttle scheduling method.

[0052] The strategy generating unit is configured to compare the first efficiency evaluation value and the second efficiency evaluation value, and generate a docking scheduling strategy if it is determined to execute the docking scheduling mode based on the comparison result.

[0053] The execution unit is used to control the first stacker to transfer the goods it carries to the vacant storage compartment of the second stacker; and to control the first stacker to return to undertake other carrying tasks, and control the second stacker to place the goods received from the first stacker at a designated location.

[0054] Preferably, the efficiency evaluation unit is specifically used to: obtain the working information of several other stackers in the storage area, and integrate the working information into third working information; use the first evaluation model to evaluate the first working information and the third working information to obtain a third efficiency evaluation value, and use the second evaluation model to evaluate the second working information and the third working information to obtain a fourth efficiency evaluation value; determine the first distance between the first stacker and the yield track area in the yield scheduling method, and determine the equivalent value of the distance between each designated position and the current position of the goods carried by the first stacker in the shuttle scheduling method, that is, the second distance; derive a first coefficient based on the first distance comparison, and derive a second coefficient based on the second distance comparison, and use the first coefficient and the second coefficient to correct the third efficiency evaluation value and the fourth efficiency evaluation value respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

[0055] Preferably, the execution unit is specifically used to: send a pause instruction to the first stacker and the second stacker, the pause instruction including pause period information and target free storage compartment information; wherein, the pause instruction is used to trigger the second stacker to suspend operation; control the first stacker to transfer the goods it carries to the target free storage compartment of the second stacker.

[0056] Preferably, the dispatch request signal is generated in the following manner: when the first stacker detects that it is blocked by the second stacker, it determines whether the current area belongs to a busy track area. If so, it generates the dispatch request signal and sends it to the stacker dispatch server; wherein, the first stacker stores a track distribution map of the storage area, and the track distribution map marks multiple busy track areas and their location information.

[0057] An embodiment of the present invention further discloses an electronic device, comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the computer program implements any of the methods described above when executed by the processor.

[0058] An embodiment of the present invention further discloses a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any of the above items is implemented.

[0059] An embodiment of the present invention further discloses a computer program product, wherein the computer program product contains computer program code, and the computer program code implements any of the above methods when executed by a processor.

[0060] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A docking scheduling method for stacker cranes on the same track, applied to a stacker crane scheduling server, characterized by: The method includes the following steps: receiving a dispatch request signal sent by a first stacker, and obtaining second working information of a second stacker based on the dispatch request signal; wherein, the first stacker and the second stacker are arranged on the same track, and the dispatch request signal includes the identity information of the second stacker and the first working information of the first stacker; evaluating and obtaining a first efficiency evaluation value of a yielding dispatching mode based on the first working information and the second working information, and evaluating and obtaining a second efficiency evaluation value of a shuttle dispatching mode; comparing the first efficiency evaluation value and the second efficiency evaluation value, and generating a shuttle dispatching strategy if it is determined to execute the shuttle dispatching mode based on the comparison result; controlling the first stacker to transfer the goods it carries to an empty storage compartment of the second stacker, the first stacker returns to undertake other carrying tasks, and the second stacker places the goods received from the first stacker at a designated location.

2. The docking dispatching method for a same-track stacker according to claim 1, characterized in that: Based on the first working information and the second working information, a first efficiency evaluation value of the yield scheduling mode is evaluated, and a second efficiency evaluation value of the shuttle scheduling mode is evaluated, including: obtaining the working information of several other stackers in the storage area, and integrating the working information into third working information; using the first evaluation model to evaluate the first working information and the third working information to obtain a third efficiency evaluation value, and using the second evaluation model to evaluate the second working information and the third working information to obtain a fourth efficiency evaluation value; determining the first distance between the first stacker and the yield track area in the yield scheduling mode, and determining the equivalent value of the distance between each designated position and the current position of the goods carried by the first stacker in the shuttle scheduling mode, that is, the second distance; obtaining a first coefficient based on the comparison of the first distance, and obtaining a second coefficient based on the comparison of the second distance, and using the first coefficient and the second coefficient to correct the third efficiency evaluation value and the fourth efficiency evaluation value respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

3. The docking dispatching method for a same-track stacker according to claim 2, characterized in that: The controlling the first stacker to transfer the goods it carries to the vacant storage compartment of the second stacker includes: sending a pause instruction to the first stacker and the second stacker, the pause instruction including pause period information and target vacant storage compartment information; wherein, the pause instruction is used to trigger the second stacker to suspend operation; and controlling the first stacker to transfer the goods it carries to the target vacant storage compartment of the second stacker.

4. The docking dispatching method for a stacker crane on the same track according to claim 3, characterized in that: The dispatch request signal is generated in the following manner: when the first stacker detects that it is blocked by the second stacker, it determines whether the current area belongs to a busy track area. If so, it generates the dispatch request signal and sends it to the stacker dispatch server; wherein, the first stacker stores a track distribution map of the storage area, and the track distribution map marks multiple busy track areas and their location information.

5. A docking dispatching system for stacker cranes on the same track, applied to a stacker crane dispatching server, characterized by: The system includes a receiving unit, an efficiency evaluation unit, a strategy generation unit, and an execution unit; the receiving unit is configured to receive a dispatch request signal sent by a first stacker and obtain second working information of a second stacker based on the dispatch request signal; wherein the first stacker and the second stacker are arranged on the same track, and the dispatch request signal includes identity information of the second stacker and first working information of the first stacker; the efficiency evaluation unit is configured to evaluate a first efficiency evaluation value of a yielding dispatching mode and a second efficiency evaluation value of a connecting dispatching mode based on the first working information and the second working information; the strategy generation unit is configured to compare the first efficiency evaluation value and the second efficiency evaluation value, and generate a connecting dispatching strategy if it is determined to execute the connecting dispatching mode based on the comparison result; the execution unit is configured to control the first stacker to transfer the cargo it is carrying to an empty storage compartment of the second stacker; and control the first stacker to return to undertake other carrying tasks and control the second stacker to place the cargo received from the first stacker at a designated location.

6. The docking type dispatching system for stacking cranes on the same track according to claim 5, characterized in that: The efficiency evaluation unit is specifically configured to: obtain operating information of a plurality of other stacker cranes in the storage area, and integrate the operating information into third operating information; evaluate the first operating information and the third operating information using a first evaluation model to obtain a third efficiency evaluation value; and evaluate the second operating information and the third operating information using a second evaluation model to obtain a fourth efficiency evaluation value; Determine a first distance between the first stacker and the yield track area in the yield scheduling mode, and determine an equivalent value, i.e., a second distance, of the distance between each designated position of the goods carried by the first stacker and the current position in the shuttle scheduling mode; derive a first coefficient based on the first distance comparison, and derive a second coefficient based on the second distance comparison; use the first coefficient and the second coefficient to correct the third efficiency evaluation value and the fourth efficiency evaluation value, respectively, to obtain the first efficiency evaluation value and the second efficiency evaluation value.

7. The docking type dispatching system for stacking cranes on the same track according to claim 6, characterized in that: The execution unit is specifically used to: send a pause instruction to the first stacker and the second stacker, wherein the pause instruction includes pause period information and target free storage compartment information; wherein the pause instruction is used to trigger the second stacker to suspend operation; and control the first stacker to transfer the goods it carries to the target free storage compartment of the second stacker.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the computer program implements the method according to any one of claims 1 to 4 when executed by the processor.

9. A computer storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

10. A computer program product, characterized in that: The computer program product is pre-packaged with computer program code, and the computer program code implements the method according to any one of claims 1 to 4 when executed by a processor.

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