In-line stacker connection system and method

Abstract

The present application belongs to the technical field of stacker, and provides a connection type scheduling system and method for same-rail stackers. The method comprises: 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; evaluating a first efficiency evaluation value of a let-go scheduling mode based on the first working information and the second working information, and evaluating a second efficiency evaluation value of a connection type scheduling mode; comparing the first efficiency evaluation value and the second efficiency evaluation value, and if it is determined to execute the connection type scheduling mode based on the comparison result, a connection type scheduling strategy is generated; the first stacker is controlled to transfer the goods carried thereby to a free storage compartment of the second stacker, and the second stacker is controlled to place the received goods of the first stacker at a specified position. The present application realizes more reasonable utilization of same-rail stacker resources by evaluating the efficiency of two scheduling strategies and selecting a more optimal connection type scheduling strategy.

Description

Technical Field

[0001] This invention relates to the field of stacker truck technology, and more specifically, to a shuttle scheduling system and method for co-track stacker cranes. Background Technology

[0002] Stacker cranes operating on the same track refer to two or more stacker cranes running simultaneously on the same track. Through precise navigation, scheduling, and collision avoidance systems, they achieve efficient handling and storage management of goods. In a warehouse area, multiple stacker cranes are deployed on the same track. When stacker crane A is loading, unloading, or simply passing through area B, stacker crane C also arrives and intends to pass through area B. In this situation, it is necessary to schedule stacker cranes A and C to ensure that stacker crane C can pass through area B smoothly and to minimize interference with stacker crane A.

[0003] To address the aforementioned conflict scheduling, existing technologies typically involve setting up waiting areas on the track, such as... Figure 1 As shown, a yielding stacker crane is determined by pre-set rules (e.g., a stacker crane with a low task priority is set to yield). The yielding stacker crane enters the adjacent yielding track area, and the other stacker crane passes smoothly. Then, the yielding stacker crane exits the yielding track area and passes through that area. The above scheduling method is only feasible if a yielding track area exists near the conflict area; otherwise, the yielding stacker crane needs to travel a long distance, resulting in low efficiency in goods management within the warehouse area.

[0004] To address the aforementioned technical problems, this invention proposes a shuttle-type scheduling scheme to resolve passage conflicts between stacker cranes even when there is no yielding track area near the conflict area, while ensuring a high level of cargo management efficiency in the storage area. Summary of the Invention

[0005] To address this issue, the present invention provides a docking scheduling method, system, electronic device, computer storage medium, and computer program product for co-track stacker cranes, thereby solving the aforementioned technical problems.

[0006] This invention discloses a docking scheduling method for co-track stacker cranes, applied to a stacker crane scheduling server. The method includes the following steps: receiving a scheduling request signal sent by a first stacker crane; obtaining second working information of a second stacker crane based on the scheduling request signal; wherein the first and second stacker cranes are deployed on the same track, and the scheduling request signal includes the identity information of the second stacker crane and the first working information of the first stacker crane; evaluating a first efficiency evaluation value for a yielding scheduling method and a second efficiency evaluation value for a docking scheduling method based on the first and second working information; comparing the first and second efficiency evaluation values, and if the docking scheduling method is determined to be executed based on the comparison result, generating a docking scheduling strategy; controlling the first stacker crane to transfer its transported goods to an empty storage compartment of the second stacker crane, the first stacker crane returning to take on other transport tasks, and the second stacker crane placing the received goods from the first stacker crane at a designated location.

[0007] Preferably, the step of evaluating and obtaining a first efficiency evaluation value for the yielding scheduling method and a second efficiency evaluation value for the shuttle scheduling method based on the first and second work information includes: acquiring work information of several other stacker cranes in the storage area and integrating the work information into a third work information; evaluating the first and third work information using a first evaluation model to obtain a third efficiency evaluation value, and evaluating the second and third work information using a second evaluation model to obtain a fourth efficiency evaluation value; determining a first distance between the first stacker crane and the yielding track area in the yielding scheduling method, and determining the equivalent value of the distance between each designated position of the goods carried by the first stacker crane and the current position in the shuttle scheduling method, i.e., a second distance; obtaining a first coefficient based on the first distance and a second coefficient based on the second distance; and correcting the third and fourth efficiency evaluation values ​​using the first and second coefficients respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

[0008] Preferably, controlling the first stacker crane to transfer its transported goods to an empty storage compartment of the second stacker crane includes: sending a pause command to the first stacker crane and the second stacker crane, the pause command including pause period information and target empty storage compartment information; wherein, the pause command is used to trigger the second stacker crane to pause operation; and controlling the first stacker crane to transfer its transported goods to the target empty storage compartment of the second stacker crane.

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

[0010] This invention also discloses a docking scheduling system for co-track stacker cranes, 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. The receiving unit is used to receive a scheduling request signal sent by a first stacker crane and obtain second working information of a second stacker crane based on the scheduling request signal. The first and second stacker cranes are deployed on the same track, and the scheduling request signal includes the identity information of the second stacker crane and the first working information of the first stacker crane. The efficiency evaluation unit is used to evaluate the first working information and the second working information based on the first working information and the second working information. The information evaluation yields a first efficiency evaluation value for the yielding scheduling method and a second efficiency evaluation value for the shuttle scheduling method; the strategy generation unit is used to compare the first efficiency evaluation value and the second efficiency evaluation value, and if the shuttle scheduling method is determined to be executed based on the comparison result, a shuttle scheduling strategy is generated; the execution unit is used to control the first stacker crane to transfer the goods it is carrying to the empty storage compartment of the second stacker crane; and to control the first stacker crane to return to take over other transportation tasks, and to control the second stacker crane to place the goods received from the first stacker crane at a designated location.

[0011] Preferably, the efficiency evaluation unit is specifically used for: acquiring the working information of several other stacker cranes in the storage area, integrating the working information into a third working information; evaluating the first working information and the third working information using a first evaluation model to obtain a third efficiency evaluation value, and evaluating the second working information and the third working information using a second evaluation model to obtain a fourth efficiency evaluation value; determining the first distance between the first stacker crane and the yielding track area in the yielding scheduling mode, and determining the equivalent value of the distance between each designated position of the goods carried by the first stacker crane and the current position in the shuttle scheduling mode, i.e., the second distance; obtaining a first coefficient based on the first distance comparison, obtaining a second coefficient based on the second distance comparison, and correcting the third efficiency evaluation value and the fourth efficiency evaluation value using the first coefficient and the second coefficient 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 command to the first stacker and the second stacker, the pause command including pause period information and target empty storage compartment information; wherein, the pause command is used to trigger the second stacker to pause operation; and control the first stacker to transfer the goods it is carrying to the target empty storage compartment of the second stacker.

[0013] Preferably, the scheduling request signal is generated in the following manner: when the first stacker crane detects that it is blocked by the second stacker crane, it determines whether the current area belongs to a busy track area. If so, it generates the scheduling request signal and sends it to the stacker crane scheduling server; wherein, the first stacker crane 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 comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the computer program being executed by the processor to implement the method as described in any of the preceding claims.

[0015] The present invention also discloses a computer storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the preceding claims.

[0016] The present invention also discloses a computer program product, which contains computer program code that is executed by a processor to implement the method described in any of the preceding claims.

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

[0018] (2) Unlike existing technologies that rely on setting up yielding track areas near the tracks, the shuttle scheduling method proposed in this invention does not require the yielding stacker crane to find a yielding track area, thus avoiding the situation where the yielding stacker crane has to travel a long distance when there is no yielding track area nearby. By directly shuttled goods between two stacker cranes, the ineffective travel time of the stacker cranes is reduced, and the management efficiency of goods in the storage area is greatly improved. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a yielding scheduling scenario in existing technologies.

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

[0022] Figure 3 This is a schematic diagram of the structure of a docking scheduling system for a parallel-track stacker crane disclosed in an embodiment of the present invention. Detailed Implementation

[0023] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0025] The reach stacker in this invention has a self-moving function, that is, it can autonomously plan and execute its path in the warehouse area with the cooperation of at least the camera and the navigation controller. Since it belongs to the prior art, other functional components will not be described in detail.

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

[0027] In this step, when the first stacker crane wants to pass through a certain area but is obstructed by the second stacker crane, remote coordination by the scheduling server needs to be initiated. At this time, the first stacker crane sends a scheduling request signal to the stacker crane scheduling server. This scheduling request signal includes the identity information of the second stacker crane and the first working information of the first stacker crane. Based on the identity information in the scheduling request signal, the scheduling server establishes a communication connection with the second stacker crane, and then obtains the second working information of the second stacker crane. The first working information includes, for example, the quantity and specifications (size, weight) of the goods carried by the first stacker crane, and the area where they need to be placed; the second working information, in addition to the above-mentioned first working information, should also include the quantity and specifications (maximum size and weight of goods that can be accommodated) of available storage compartments.

[0028] S200, based on the first work information and the second work information, a first efficiency evaluation value of the yielding scheduling method is obtained, and a second efficiency evaluation value of the connecting scheduling method is obtained.

[0029] In this step, the scheduling server evaluates the efficiency of the yielding scheduling method mentioned in the background art and the shuttle scheduling method used in this invention based on the obtained first and second working information, respectively, and obtains a first efficiency evaluation value and a second efficiency evaluation value. The above-mentioned efficiency evaluation values ​​are used to characterize the overall operating efficiency of the entire warehouse area under the current conditions when executing the yielding scheduling method or the shuttle scheduling method.

[0030] It should be noted that, in addition to directly impacting the operational efficiency of the first and second stacker cranes, the yielding and shuttle scheduling methods can also affect other stacker cranes. For example, in the yielding scheduling method, as the first stacker crane moves towards the yielding track area, other stacker cranes may need to back up to make way for it. In the shuttle scheduling method, the second stacker crane will change its original operating path, which will also require other stacker cranes to change their operating paths or wait for the yielding. These two factors affect the overall operational efficiency of the warehouse 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 connection-based scheduling method will be executed, then a connection-based scheduling strategy will be generated.

[0032] In this step, the scheduling server compares the first efficiency assessment value and the second efficiency assessment value to determine which scheduling method can complete the task more efficiently under the current circumstances, i.e., the overall operating efficiency of the entire warehouse area is higher. Specifically, if the first efficiency assessment value is lower than the second efficiency assessment value, the feeder scheduling method is determined to be executed, and a feeder scheduling strategy is generated; otherwise, the conventional yielding scheduling method is used, and a yielding scheduling strategy is generated.

[0033] S400, the first stacker crane is controlled to transfer the goods it is carrying to the empty storage compartment of the second stacker crane, the first stacker crane returns to take on other carrying tasks, and the second stacker crane places the goods received from the first stacker crane in a designated location.

[0034] In this step, the scheduling server feeds back the feeder scheduling strategy to the first stacker crane. The first stacker crane responds to this strategy by transferring its cargo to an empty storage compartment on the second stacker crane. In this way, after completing the cargo "handover," the first stacker crane can return to take on other transport tasks, while the second stacker crane, after receiving the cargo from the first stacker crane, takes over and places it in the designated location (the area to be placed mentioned above, obtained from the scheduling server or the first stacker crane). This setup significantly alleviates the problem of excessively long waiting times that are unavoidable when performing yielding scheduling in conflict areas.

[0035] This invention achieves more rational utilization of same-track stacker crane resources by evaluating the efficiency of two scheduling strategies and selecting the superior feeder scheduling strategy. Furthermore, unlike existing technologies that rely on setting up yielding track areas near the tracks, the feeder scheduling method proposed in this invention eliminates the need for the yielding stacker crane to search for a yielding track area, avoiding situations where the yielding stacker crane has to travel a long distance due to the lack of nearby yielding track areas. By directly feeding goods between two stacker cranes, the ineffective travel time of the stacker cranes is reduced, significantly improving the management efficiency of goods in the storage area.

[0036] Preferably, the step of evaluating and obtaining a first efficiency evaluation value for the yielding scheduling method and a second efficiency evaluation value for the shuttle scheduling method based on the first and second work information includes: acquiring work information of several other stacker cranes in the storage area and integrating the work information into a third work information; evaluating the first and third work information using a first evaluation model to obtain a third efficiency evaluation value, and evaluating the second and third work information using a second evaluation model to obtain a fourth efficiency evaluation value; determining a first distance between the first stacker crane and the yielding track area in the yielding scheduling method, and determining the equivalent value of the distance between each designated position of the goods carried by the first stacker crane and the current position in the shuttle scheduling method, i.e., a second distance; obtaining a first coefficient based on the first distance and a second coefficient based on the second distance; and correcting the third and fourth efficiency evaluation values ​​using the first and second coefficients respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

[0037] In this embodiment of the invention, given that any scheduling method will interfere with other stacker cranes in the storage area, thereby affecting the overall operating efficiency of the entire storage area, the present invention uses a pre-built model to simultaneously process the working information of the stacker cranes directly involved in the scheduling and other stacker cranes that may be affected, thereby obtaining preliminary third and fourth efficiency evaluation values. The "other stacker cranes" mentioned in the third working information may not be all other stacker cranes in the entire storage area (i.e., stacker cranes other than the first and second stacker cranes), but rather stacker cranes that are predicted to be affected by yielding scheduling and shuttle scheduling methods, such as stacker cranes that need to back up to make way for some tracks entering the yielding track area, stacker cranes that need to change their operating paths, or stacker cranes that need to wait for yielding. Preferably, the working information of the other stacker cranes has the same content as the second working information.

[0038] Meanwhile, the preliminary third and fourth efficiency assessment values ​​mentioned above were derived under the premise that there are no other passage conflicts in the storage area and no other stacker cranes requiring the scheduling server to resolve conflicts. However, in reality, during the execution of yielding or feeder scheduling methods, other scheduling strategies may still be generated and executed. In other words, the aforementioned third work information is generally not absolutely "true". Therefore, the aforementioned preliminary third and fourth efficiency assessment values ​​are generally underestimated.

[0039] To address this, the present invention uses adjustment coefficients to adjust and correct both factors, making them closer to the actual situation when the corresponding scheduling strategy is subsequently executed. During the execution of the scheduling strategy, the greater the travel distance of the first stacker crane, the longer its travel time and the greater the probability of secondary conflicts with other stacker cranes. Therefore, the present invention determines the aforementioned adjustment coefficients based on "distance." Specifically: In the yielding scheduling method, a first distance is determined between the first stacker crane and the most suitable (closest and idle) yielding track area. The larger this first distance, the greater the probability of the first stacker crane experiencing unexpected secondary conflicts with other stacker cranes during the yielding scheduling process (e.g., other stacker cranes are also executing the scheduling strategy and conflict with the first stacker crane). Correspondingly, the first coefficient is set smaller, for example, to 0.7, and vice versa, to 0.9.

[0040] In the feeder-style scheduling method, the equivalent value of the distance between each designated location of the goods carried by the first stacker crane and its current location is determined, which is called the second distance. This equivalent value is, for example, the average, median, or maximum value of each distance. This second distance reflects the additional travel cost required for the second stacker crane to transport the goods (the goods received from the first stacker crane) when using feeder-style scheduling. Similarly, the larger the second distance, the greater the probability that the second stacker crane will have an unexpected secondary conflict with other stacker cranes during the feeder scheduling process (for example, other stacker cranes are also executing scheduling strategies and conflict with the second stacker crane). Correspondingly, the second coefficient is set to be smaller, for example, 0.6, and vice versa, it is set to, for example, 0.8.

[0041] Finally, by multiplying the third efficiency assessment value by the first coefficient and the fourth efficiency assessment value by the second coefficient, the above-mentioned correction is achieved, making the resulting efficiency assessment value closer to the actual situation.

[0042] It is worth further explaining that multiple sets of correspondence tables for the first distance-first coefficient and the second distance-second coefficient are established in advance. By comparing the obtained first distance and second distance with the corresponding correspondence tables, the corresponding first coefficient and second coefficient can be obtained.

[0043] Furthermore, both the first and second evaluation models preferably include a feature extraction structure, an analysis and processing structure, and an evaluation structure. The feature extraction structure is preferably built based on a CNN to extract dynamic features from massive amounts of operational information within the warehouse area. The analysis and processing structure is preferably built using a CNN or graph convolutional neural network, which uses these dynamic features to analyze the cargo transport time of the entire warehouse area. The evaluation structure then evaluates the efficiency assessment value based on this cargo transport time and the corresponding comparison rules.

[0044] Preferably, controlling the first stacker crane to transfer its transported goods to an empty storage compartment of the second stacker crane includes: sending a pause command to the first stacker crane and the second stacker crane, the pause command including pause period information and target empty storage compartment information; wherein, the pause command is used to trigger the second stacker crane to pause operation; and controlling the first stacker crane to transfer its transported goods to the target empty storage compartment of the second stacker crane.

[0045] In this embodiment of the invention, after deciding to implement the shuttle scheduling method, the scheduling server sends a pause command to the first and second stacker cranes. This pause command includes pause period information and target available storage compartment information. The pause period information ensures that when the first stacker crane is performing a goods transfer operation, the second stacker crane is in a paused state, allowing both stacker cranes to perform the transfer operation in a relatively stationary state, improving operational safety and accuracy. The target available storage compartment information is the optimal placement point for the goods on the first stacker crane determined by the scheduling server. For example, if the stacker crane has multiple storage compartments from top to bottom, during loading and unloading, the stacker crane adjusts the height of the storage compartments to correspond to their placement positions on the rack. The drive structure then forks the goods from that storage compartment to the corresponding placement position. If the area where the goods need to be placed is not in the current operating path of the second stacker crane, it is preferentially placed in a lower available storage compartment suitable for receiving the corresponding goods (considering specifications). This reduces the overall height adjustment required by the stacker crane for the storage compartments, thus saving energy.

[0046] Preferably, the scheduling request signal is generated in the following manner: when the first stacker crane detects that it is blocked by the second stacker crane, it determines whether the current area belongs to a busy track area. If so, it generates the scheduling request signal and sends it to the stacker crane scheduling server; wherein, the first stacker crane 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 this embodiment of the invention, the first stacker crane continuously monitors its own operating status during operation. When it detects that it is blocked by a second stacker crane on the same track, it indicates that the operating trajectories of the two stacker cranes may be conflicting, requiring scheduling and coordination. Alternatively, if the current area is not a busy track area (preset according to actual conditions), the first stacker crane can interact and negotiate with the second stacker crane, i.e., exchange transport tasks. The yielding party is determined based on the priority of each transport task, i.e., offline yielding scheduling is implemented. In this case, no coordination from the scheduling server is required, thus reducing the computational load on the scheduling server.

[0048] When the current area is a busy track area, a scheduling request signal needs to be generated and sent to the scheduling server in a timely manner to make a decision on the best scheduling strategy to be adopted as soon as possible. This will avoid long-term congestion in the busy track area caused by unreasonable offline yielding scheduling methods and reduce the probability that the overall operating efficiency of the storage area will be affected too much.

[0049] like Figure 3 As shown in the figure, this invention also discloses a docking scheduling system for a stacker crane with 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 crane, and to obtain the second working information of the second stacker crane based on the scheduling request signal; wherein the first stacker crane and the second stacker crane are deployed on the same track, and the scheduling request signal includes the identity information of the second stacker crane and the first working information of the first stacker crane.

[0051] The efficiency evaluation unit is used to evaluate and obtain a first efficiency evaluation value for the yielding scheduling mode based on the first work information and the second work information, and to evaluate and obtain a second efficiency evaluation value for the connecting scheduling mode.

[0052] The strategy generation unit is used to compare the first efficiency evaluation value and the second efficiency evaluation value. If the comparison result determines that the docking scheduling method should be executed, a docking scheduling strategy is generated.

[0053] The execution unit is configured to control the first stacker crane to transfer the goods it is carrying to the empty storage compartment of the second stacker crane; and to control the first stacker crane to return to take on other transport tasks, and to control the second stacker crane to place the goods received from the first stacker crane at a designated location.

[0054] Preferably, the efficiency evaluation unit is specifically used for: acquiring the working information of several other stacker cranes in the storage area, integrating the working information into a third working information; evaluating the first working information and the third working information using a first evaluation model to obtain a third efficiency evaluation value, and evaluating the second working information and the third working information using a second evaluation model to obtain a fourth efficiency evaluation value; determining the first distance between the first stacker crane and the yielding track area in the yielding scheduling mode, and determining the equivalent value of the distance between each designated position of the goods carried by the first stacker crane and the current position in the shuttle scheduling mode, i.e., the second distance; obtaining a first coefficient based on the first distance comparison, obtaining a second coefficient based on the second distance comparison, and correcting the third efficiency evaluation value and the fourth efficiency evaluation value using the first coefficient and the second coefficient 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 command to the first stacker and the second stacker, the pause command including pause period information and target empty storage compartment information; wherein, the pause command is used to trigger the second stacker to pause operation; and control the first stacker to transfer the goods it is carrying to the target empty storage compartment of the second stacker.

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

[0057] This invention also 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, when executed by the processor, implements the method as described in any of the preceding claims.

[0058] This invention also discloses a computer storage medium storing a computer program that, when executed by a processor, implements the method described in any of the preceding claims.

[0059] This invention also discloses a computer program product containing computer program code, which is executed by a processor to implement the method described in any of the preceding claims.

[0060] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A docking-type scheduling method for a stacker crane with the same track, applied to a stacker crane scheduling server, characterized in that: The method includes the following steps: receiving a scheduling request signal sent by a first stacker crane; obtaining second working information of a second stacker crane based on the scheduling request signal; wherein the first stacker crane and the second stacker crane are deployed on the same track, and the scheduling request signal includes the identity information of the second stacker crane and the first working information of the first stacker crane; evaluating a first efficiency evaluation value of a yielding scheduling mode and a second efficiency evaluation value of a shuttle scheduling mode based on the first working information and the second working information; comparing 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, generating a shuttle scheduling strategy; controlling the first stacker crane to transfer the goods it is carrying to the empty storage compartment of the second stacker crane, the first stacker crane returning to take on other transportation tasks, and the second stacker crane placing the goods received from the first stacker crane at a designated location.

2. The shuttle-type scheduling method for a co-track stacker crane according to claim 1, characterized in that: The evaluation process, which assesses and derives a first efficiency evaluation value for a yielding dispatching method and a second efficiency evaluation value for a shuttle dispatching method based on the first and second work information, includes: acquiring work information of several other stacker cranes in the storage area and integrating the work information into a third work information; evaluating the first and third work information using a first evaluation model to obtain a third efficiency evaluation value, and evaluating the second and third work information using a second evaluation model to obtain a fourth efficiency evaluation value; determining a first distance between the first stacker crane and the yielding track area in the yielding dispatching method, and determining the equivalent value of the distance between each designated location of the goods carried by the first stacker crane and the current location in the shuttle dispatching method, i.e., a second distance; deriving a first coefficient based on the first distance, deriving a second coefficient based on the second distance, and correcting the third and fourth efficiency evaluation values ​​using the first and second coefficients respectively to obtain the first efficiency evaluation value and the second efficiency evaluation value.

3. The shuttle-type scheduling method for a co-track stacker crane according to claim 2, characterized in that: The step of controlling the first stacker crane to transfer the goods it is carrying to an empty storage compartment of the second stacker crane includes: sending a pause command to the first stacker crane and the second stacker crane, the pause command including pause period information and target empty storage compartment information; wherein, the pause command is used to trigger the second stacker crane to pause operation; and controlling the first stacker crane to transfer the goods it is carrying to the target empty storage compartment of the second stacker crane.

4. The shuttle-type scheduling method for a co-track stacker crane according to claim 3, characterized in that: The scheduling request signal is generated in the following manner: when the first stacker crane detects that it is blocked by the second stacker crane, it determines whether the current area belongs to a busy track area. If so, it generates the scheduling request signal and sends it to the stacker crane scheduling server. The first stacker crane 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 scheduling system for a parallel-track stacker crane, applied to a stacker crane scheduling server, characterized in that: The system includes a receiving unit, an efficiency evaluation unit, a strategy generation unit, and an execution unit. The receiving unit receives a scheduling request signal from a first stacker crane and obtains second working information of a second stacker crane based on the scheduling request signal. The first and second stacker cranes are deployed on the same track, and the scheduling request signal includes the identity information of the second stacker crane and the first working information of the first stacker crane. The efficiency evaluation unit evaluates a first efficiency value for a yielding scheduling method and a second efficiency value for a shuttle scheduling method based on the first and second working information. The strategy generation unit compares the first and second efficiency values; if the comparison result determines that a shuttle scheduling method should be executed, a shuttle scheduling strategy is generated. The execution unit controls the first stacker crane to transfer its transported goods to an empty storage compartment of the second stacker crane; and controls the first stacker crane to return to take on other transport tasks, and controls the second stacker crane to place the received goods from the first stacker crane at a designated location.

6. The docking scheduling system for a co-track stacker crane according to claim 5, characterized in that: The efficiency evaluation unit is specifically used to: acquire the working information of several other stacker cranes in the storage area, integrate the working information into a third working information; evaluate the first working information and the third working information using a first evaluation model to obtain a third efficiency evaluation value; and evaluate the second working information and the third working information using a second evaluation model to obtain a fourth efficiency evaluation value. In the yielding scheduling mode, a first distance between the first stacker crane and the yielding track area is determined, and in the shuttle scheduling mode, an equivalent value, i.e., a second distance, is determined between the designated locations of the goods carried by the first stacker crane and the current location. A first coefficient is obtained based on the first distance, and a second coefficient is obtained based on the second distance. The first coefficient and the second coefficient are used 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 scheduling system for a co-track stacker crane according to claim 6, characterized in that: The execution unit is specifically configured to: send a pause command to the first stacker and the second stacker, the pause command including pause period information and target empty storage compartment information; wherein, the pause command is used to trigger the second stacker to pause operation; and control the first stacker to transfer the goods it is carrying to the target empty storage compartment of the second stacker.

8. An electronic device, characterized in that: The electronic device 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, when executed by the processor, implements the method as described in any one of claims 1-4.

9. A computer storage medium, characterized in that: The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-4.

10. A computer program product, characterized in that: The computer program product contains pre-packaged computer program code, which is executed by a processor to implement the method as described in any one of claims 1-4.

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