Shuttle vehicle task allocation scheduling method, three-dimensional warehouse system and computer storage medium

Abstract

The invention discloses a shuttle vehicle task allocation scheduling method, a three-dimensional warehouse system and a computer storage medium, and the method comprises the steps: obtaining the task information of a target cargo, and determining a target grid based on the task information; determining a target shuttle vehicle with the shortest path to the target grid based on the target grid and the position of the shuttle vehicle in the goods shelf; the target shuttle vehicle is locked, and the task information of the target goods is distributed to the target shuttle vehicle; determining that the target shuttle vehicle is in a first preset state, and driving the target shuttle vehicle to convey target goods; and unlocking the target shuttle vehicle. The sorting speed can be increased, the sorting process can be optimized, and the sorting efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to a shuttle task allocation and scheduling method, an automated warehouse system, and a computer storage medium. Background Technology

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

[0003] However, current solutions have many shortcomings, such as being unable to effectively handle complex scheduling tasks, achieve dynamic scheduling during the process, and have low handling efficiency; and, current path planning algorithms usually plan the shortest storage and retrieval path for a single shuttle.

[0004] Therefore, there is an urgent need for a shuttle task allocation and scheduling method and a warehouse system that can achieve real-time integration with the production execution system, support dynamic scheduling of complex scheduling tasks of multiple shuttles, improve handling efficiency, and thus meet the needs of efficient scheduling. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of existing automated warehouse shuttle task allocation and scheduling methods, which cannot achieve dynamic scheduling of multiple shuttles and have low sorting efficiency. This invention provides a shuttle task allocation and scheduling method, an automated warehouse system, and a computer storage medium, which can accelerate picking speed, optimize the picking process, and improve sorting efficiency.

[0006] To address the aforementioned technical problems, this invention discloses a shuttle car task allocation and scheduling method applied to an automated storage and retrieval system (AS / RS). The AS / RS includes multiple shuttle cars and shelves, each shelf comprising multiple compartments for accommodating goods. The shuttle cars carry the goods and move relative to the shelves to transport them. The shuttle car task allocation and scheduling method includes:

[0007] Obtain the task information of the target cargo, and determine the target compartment based on the task information;

[0008] Based on the location of the target compartment and the shuttle car in the shelf, determine the target shuttle car with the shortest path to the target compartment;

[0009] Lock onto the target shuttle and assign the task information of the target cargo to the target shuttle;

[0010] The target shuttle is determined to be in a first preset state, and the target shuttle is driven to transport the target goods. The first preset state at least indicates that the target shuttle is not in a low battery state.

[0011] Unlock the target shuttle.

[0012] Using the above technical solution, the shuttle task allocation and scheduling method of this application embodiment determines the position of the target compartment indicated in the task information in the shelf according to the task information of the goods, and selects the target shuttle with the shortest movement path from the multiple shuttles in the shuttle group according to the real-time position of multiple shuttles in the shuttle group, and binds the task information of the goods to the target shuttle to avoid deadlock or empty load caused by duplicate task allocation. Then, the status of the shuttle is monitored to ensure that each shuttle has sufficient power to ensure the stability of goods sorting in the automated warehouse system of this application embodiment. The entire process is completed by the host computer and the shuttle, without the need for manual sorting, saving labor costs and improving efficiency. At the same time, it can more efficiently optimize the path planning of the shuttle, speed up the picking speed, optimize the picking process, and improve the sorting efficiency.

[0013] For example, in the embodiments of this application, the shuttle being in the first preset state indicates at least that the shuttle's battery level is higher than the first preset value, that is, the shuttle is not in a low battery state, and the shuttle does not need to move to the charging position described later for charging, so that the host computer can determine that the shuttle is in a standby state.

[0014] According to another specific embodiment of the present invention, a shuttle task allocation and scheduling method is disclosed, wherein multiple shuttles form a shuttle group, and multiple racks form a rack group, and determining the target shuttle with the shortest path to the target rack based on the target rack and the position of the shuttle in the rack includes:

[0015] Determine that at least one shuttle in the shuttle group is in an unlocked state;

[0016] Based on the path length from at least one shuttle in the unlocked state to the target grid, determine the target shuttle with the shortest path to the target grid.

[0017] The unlocked state indicates at least that the shuttle has not been assigned a task.

[0018] According to another specific embodiment of the present invention, a shuttle task allocation and scheduling method is disclosed, wherein multiple shuttles form multiple shuttle groups, multiple racks form multiple rack groups, and the multiple shuttle groups correspond one-to-one with the multiple rack groups. Determining the target shuttle with the shortest path to the target rack based on the target rack and the shuttle's position in the rack includes:

[0019] Determine the shuttle group corresponding to the grid group of the target grid;

[0020] Determine that at least one shuttle in the shuttle group is in an unlocked state;

[0021] Based on the path length from at least one shuttle in the unlocked state to the target grid, determine the target shuttle with the shortest path to the target grid.

[0022] The unlocked state indicates at least that the shuttle has not been assigned a task.

[0023] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a shuttle task allocation and scheduling method, wherein determining the target shuttle with the shortest path to the target compartment based on the target compartment and the position of the shuttle in the shelf includes:

[0024] Determine the shuttle group corresponding to the grid group of the target grid;

[0025] Determine that at least one shuttle in the shuttle group is in an unlocked state;

[0026] Determine that at least one shuttle in the shuttle group is in a locked state;

[0027] Based on the path length from the target grid to at least one unlocked shuttle in the shuttle group and the path length from the task grid to the target grid to at least one locked shuttle in the shuttle group, determine the target shuttle with the shortest path to the target grid.

[0028] The locked state at least indicates that the shuttle has been assigned a task.

[0029] According to another specific embodiment of the present invention, a shuttle task allocation and scheduling method is disclosed, wherein the shelf further includes a charging layer, the charging layer including a plurality of charging positions arranged at intervals:

[0030] The shuttle task allocation and scheduling method also includes:

[0031] Confirm that the shuttle is unlocked;

[0032] Once the shuttle is determined to be in a second preset state, the shuttle is driven to move to the charging position on the charging layer, and the target shuttle is locked.

[0033] The second preset state at least indicates that the shuttle is in a low battery state.

[0034] For example, in the embodiments of this application, the shuttle being in the second preset state indicates at least that the shuttle is in a low battery state, that is, the battery capacity of the shuttle is lower than the first preset value, and the shuttle needs to be moved to the charging position for charging.

[0035] According to another specific embodiment of the present invention, a shuttle task allocation and scheduling method is disclosed, the shuttle task allocation and scheduling method further comprising:

[0036] The shuttle is located at the charging position;

[0037] Once the shuttle is confirmed to be in the third preset state, the target shuttle is unlocked and driven to the preset point.

[0038] The third preset state at least indicates that the shuttle is in a high battery state.

[0039] For example, in the embodiments of this application, the shuttle being in the third preset state indicates at least that the shuttle's battery capacity is higher than or equal to the second preset value (where the second preset value is higher than the first preset value), and the shuttle has completed charging.

[0040] An embodiment of the present invention also discloses an automated storage and retrieval system, comprising: a shelf including multiple compartments, each compartment being used to hold goods;

[0041] Multiple shuttle cars, each of which includes a transport unit, the shuttle car being used to move relative to the shelf, the transport unit being used to carry goods and remove the goods from the compartment, or store the goods in the compartment;

[0042] A host computer is connected to each of the plurality of shuttle cars, and the host computer is used to execute the shuttle car task allocation and scheduling method described in any of the above-mentioned methods.

[0043] Embodiments of the present invention also disclose a computer storage medium, including a memory and a processor, wherein the memory is adapted to store computer instructions, and the processor is adapted to execute the shuttle task allocation and scheduling method described above when running the computer instructions.

[0044] The present invention also discloses a computer program product, including a computer program / instruction, which, when executed by a processor, implements the shuttle task allocation and scheduling method described in any of the above claims.

[0045] To make the above description of the present invention more apparent and understandable, preferred embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0046] Figure 1 A schematic diagram of a scenario for an automated warehouse system according to an embodiment of the present invention is shown;

[0047] Figure 2 A perspective view of the track assembly, shuttle car, lifting device, and conveying device of the vertical storage system according to an embodiment of the present invention is shown.

[0048] Figure 3 A perspective view showing a portion of the shelving of an automated warehouse system according to an embodiment of the present invention;

[0049] Figure 4 A flowchart illustrating the shuttle task allocation and scheduling method according to an embodiment of the present invention is shown;

[0050] Figure 5 A schematic diagram of the track group, shuttle car and grid of the vertical storage system according to an embodiment of the present invention is shown, which is applicable to another allocation strategy;

[0051] Figure 6 A schematic diagram of the track group, shuttle car and grid of the vertical storage system according to an embodiment of the present invention is shown, which is applicable to another allocation strategy;

[0052] Figure 7 A block diagram of an electronic device provided in an embodiment of the present invention is shown;

[0053] Figure 8 A block diagram of a system-on-a-chip (SoC) provided in an embodiment of the present invention is shown. Detailed Implementation

[0054] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0055] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0056] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0057] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0058] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0059] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0060] Figure 1 A schematic diagram of a storage system is shown according to some embodiments of this application.

[0061] refer to Figure 1 This application provides an automated storage and retrieval system 1, including: a track assembly 10, a shuttle 20, a rack 30, a lifting device 40, a conveying device 50, and a host computer (not shown in the figure). In this embodiment, the host computer is electrically connected to each of the shuttle 20, the lifting device 40, and the conveying device 50.

[0062] Among them, along the length direction of the vertical storage system 1 (e.g. Figure 1 (As shown in the X direction), the track assembly 10 is located between the two lifting devices 40. For example, as... Figure 2 As shown, a lifting device 40 is provided on the left and right sides of the track assembly 10 along the length direction X. Each lifting device 40 has a lifting device along the height direction of the vertical storage system 1 (e.g., ...). Figure 2 (As shown in the Z direction) Extending lifting channel 41.

[0063] Specifically, such as Figure 1 and Figure 2 As shown, the track assembly 10 in this embodiment includes multiple layers along the height direction (e.g., ...). Figure 1 The transport tracks 11 are spaced apart (as shown in the Z direction). Each layer of transport tracks 11 extends along the length direction X. Shuttle cars 20 can move along the transport tracks 11 to the lifting channels 41 of each lifting device 40, and each layer of transport tracks 11 can accommodate multiple shuttle cars 20. In this embodiment, the multiple shuttle cars 20 form a shuttle car group.

[0064] For example, the shuttle 20 of this application embodiment includes a chassis, on which a transmission device and a drive device are provided for carrying goods and transferring goods to the shelf 30. The shuttle 20 also includes at least two sets of wheels, which are provided on both sides of the chassis in the width direction Y. Each set of wheels includes two wheels spaced apart in the length direction X, so that the drive device drives the wheels to rotate, so that the shuttle 20 moves along the transport track 11.

[0065] It is understood that the structure illustrated in the embodiments of this application does not constitute a specific limitation on the warehouse system. The embodiments of this application do not specifically limit the structure of the track group 10 and the shuttle car. In the above embodiments, each layer of transport track 11 of the track group 10 is a two-way track extending along the length direction X, so as to allow the shuttle car 20 to move along the length direction X, and the shuttle car 20 is a two-way shuttle car that moves along the two-way track.

[0066] However, this is not the only one. In some other embodiments of this application, for example, each layer of transport track 11 of track group 10 may be a four-way track extending along the length direction X and the width direction Y respectively. The shuttle 20 may also include multiple wheel sets respectively disposed on the chassis in the width direction Y and the length direction X, and may be able to move along the four directions of front, back, left and right on the transport track 11, i.e., a four-way shuttle, so that the four-way shuttle can move along the four-way transport track.

[0067] For ease of explanation, the following description is based on the example that both transport track 11 and shuttle car 20 are bidirectional.

[0068] Exemplary, the two lifting devices 40 in this application embodiment have the same structure, such as... Figure 2 and Figure 3As shown, each lifting device 40 includes a lifting mechanism 42 located within 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 rails 421 can move upward or downward along the height direction within the lifting channel 41 to correspond to the transport track 11, so as to receive the shuttle 20 from the transport track 11, and can drive the shuttle 20 located within the lifting channel 41 to move along the height direction Z so that the shuttle 20 can move towards the transport track 11.

[0069] For example, the lifting mechanism 42 moves up or down within the lifting channel 41. When the lifting guide rail 421 of the lifting mechanism 42 moves to the position corresponding to the transport track 11 of the corresponding level, the shuttle 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 shuttle 20 and drives the shuttle 20 to move up or down within the lifting channel 41. When it moves to the position corresponding to the transport track 11 of the corresponding level, the shuttle 20 on the lifting guide rail 421 moves from the lifting guide rail 421 into the transport track 11.

[0070] Therefore, the shuttle 20 of this embodiment can circulate between one lifting device 40, the multi-level transport track 11, and another lifting device 40. In other words, the shuttle 20 of this embodiment can switch between different transport tracks 11 via two lifting devices 40.

[0071] Continue to refer to Figure 1 Along the width direction of vertical storage system 1 (e.g.) Figure 1 As shown in the Y direction, the aforementioned shelves 30 are located on opposite sides of the track assembly 10. That is, in this embodiment, shelves 30 are provided on both sides of the track assembly 10 in the width direction Y. However, this is not a limitation. Exemplarily, in some possible implementations, shelves 30 may also be provided on one side of the track assembly 10 along the width direction Y.

[0072] And, as Figure 3 As shown, the shelf 30 in this embodiment includes a plurality of compartments 32. These compartments 32 form a compartment group, which corresponds to the aforementioned shuttle group. That is, each shuttle 20 in the shuttle group of this embodiment can move on the transport track 11 to reach the compartments 32 within the compartment group.

[0073] Continue to refer to Figure 3The shelf 30 is provided with multiple compartments spaced apart along the height direction Z. Each compartment includes multiple chutes 31 spaced apart along the length direction X. Each chute 31 has an inlet 311 and an outlet 312. Each chute 31 slopes downward from the inlet 311 to the outlet 312. The inlet 311 of each chute 31 is used to receive goods transported from the shuttle 20. Each compartment has multiple slots 32, which correspond one-to-one with the multiple chutes 31. Each chute 31 has a slot 32 at its outlet 312. Goods transported by the shuttle 20 to the inlet 311 of the chute 31 can slide along the chute 31 into the slot 32, where the slot 32 stores the goods.

[0074] However, this application embodiment does not limit the structure of the compartment 32 of the shelf 30. In other possible real-time modes, the shelf 30 of this application embodiment may not be provided with the chute 31 so that the shuttle 20 can drive into or out of the compartment 32 to take out the goods from the compartment 32, or to store the goods in the compartment 32.

[0075] For example, such as Figure 1 As shown, the multiple compartment layers of this application embodiment correspond one-to-one with the multi-layer transport track 11 described above, so that the shuttle 20 of this application embodiment can move along the transport track 11 to transfer the goods carried by the shuttle 20 to each compartment 32 in the corresponding compartment layer, or to take the goods in the compartment 32 onto the shuttle 20.

[0076] Furthermore, the shuttle 20 in this embodiment can switch between different transport tracks 11 via the lifting device 40 to reach different transport tracks 11, and can move relative to the shelf 30 between each compartment 32 in the corresponding different compartment layers to transport goods and realize the sorting of goods.

[0077] Continue to refer to Figure 3 and combined Figure 1 The shelf 30 in this embodiment of the 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 shuttle 20.

[0078] For example, such as Figure 3 As shown, along the height direction Z, the charging layer 33 is located above the multi-layer grid layer, and each charging position 331 is used to receive power along the uppermost transport track 111 (see Figure 111). Figure 1 The shuttle 20 moves along the uppermost transport track 111 (see...). Figure 1 The device moves to the corresponding charging position 331 to charge at the corresponding charging position 331.

[0079] Continue to refer to Figure 1The aforementioned conveying device 50 is located on one side of the track assembly 10 along the width direction Y. That is, in this embodiment of the application, the track assembly 10 has a conveying device 50 on one side along the width direction Y, and the conveying device 50 is used to transport goods to the shuttle 20 on the track assembly 10 along the width direction Y. However, it is not limited to this. Exemplarily, in some possible embodiments, the track assembly 10 may also have conveying devices 50 on both opposite sides along the width direction Y.

[0080] Therefore, the automated warehouse system 1 of this application embodiment can control the conveying device 50 to transport goods to the shuttle 20 via a host computer. It should be noted that this application embodiment does not limit the specific structure of the conveying device 50 and the transmission section (not shown in the figure) on the shuttle 20; it can be a conveyor belt, or in other possible embodiments, a conveyor roller, etc., as long as it can achieve the function of loading and unloading goods. The following is based on... Figures 1 to 3 The schematic diagram of the automated storage and retrieval system shown is obtained through... Figures 4 to 6 The shuttle task allocation and scheduling method of this application is described in detail.

[0081] Specifically, this application Figure 4 The shuttle task allocation and scheduling method can be implemented by executing relevant programs on the host computer of the vertical warehouse system 1.

[0082] refer to Figure 4 The shuttle task allocation and scheduling method provided according to a specific embodiment of this application includes the following steps.

[0083] S100: Obtain the task information of the target cargo and determine the target compartment based on the task information.

[0084] Here, the host computer in this embodiment of the application can receive the task information of the goods (e.g., target goods) fed back by the input device, and determine the target compartment 32 that matches the target goods based on the task information of the target goods.

[0085] It is understood that the shuttle 20 in this embodiment can transfer the goods it carries to the corresponding slot 32 for goods entry operation; or, it can remove the goods from the slot 32 and carry them to the outside of the automated storage system 1 (e.g., an external conveyor belt) for outbound operation. That is to say, the target slot 32 mentioned above can refer to both the entry slot 32 of the goods carried by the shuttle 20 in the entry operation (i.e., the corresponding entry point) and the exit slot 32 of the shuttle 20 in the outbound operation (i.e., the corresponding exit point).

[0086] For ease of understanding, the following explanation uses the inbound operation of shuttle car 20 as an example.

[0087] For example, in this embodiment, the host computer receives the task information of the current goods scanned by the input device, such as a series of information in the Warehouse Management System (WMS) corresponding to the order number of the currently scanned goods (e.g., the numbering information of the target compartment 32 described later) and the server connection status. This embodiment does not specifically limit the type of input device; for example, the input device described above is a fixed infrared barcode scanner; however, it is not limited thereto. In other possible implementations, the input device may also be a handheld scanner or a camera, etc.

[0088] For example, in this embodiment of the application, a host computer is used to number multiple compartments 32 of the shelf 30 to determine the position of the numbered compartments 32 on the shelf 30. The task information of the goods in this embodiment of the application includes at least the numbering information of the target compartment 32 corresponding to the goods.

[0089] Therefore, in this embodiment of the application, the host computer can determine the position of the target compartment 32 on the shelf 30 based on the numbering information of the target compartment 32 corresponding to the goods. For example, as shown... Figure 2 As shown, the shelf 30 in this embodiment of the application has five compartments, which correspond to the five transport tracks 11 in the track group 10. Figure 3 The diagram shows grid 32 located on the fourth grid layer. Correspondingly, the drop-off position (not shown in the diagram) corresponding to grid 32 is located on the fourth transport track 11d (see [reference]). Figure 5 Furthermore, the host computer in this embodiment can determine the corresponding drop position on the corresponding transport track 11 in the track group 10 based on the position of the numbered slot 32 on the shelf 30.

[0090] It is understood that the grid location mentioned above in the embodiments of this application refers to the location where the shuttle 20 moves on the transport track 11 to the grid 32 with a set number, and can be driven by the host computer to transfer goods to the grid 32 with the set number.

[0091] S200: Based on the target compartment and the location of the shuttle in the shelf, determine the target shuttle with the shortest path to the target compartment.

[0092] Here, in this embodiment of the application, the host computer obtains the task information of the current goods (i.e. the target goods) through the input device and WMS in step S100 above. Then, based on the positions of multiple shuttle cars 20 on the shelf 30 and the position of the target compartment 32 in the task information on the shelf 30, it calculates the movement path of the shuttle car 20 to the landing position of the target compartment 32. Then, based on the movement paths of multiple shuttle cars 20 to the landing position of the target compartment 32, it selects the shuttle car 20 with the shortest movement path from the multiple shuttle cars 20 as the target shuttle car 20.

[0093] S300: Lock onto the target shuttle and assign the task information of the target cargo to the target shuttle.

[0094] Here, in this embodiment of the application, the host computer locks the target shuttle 20 selected in step S200 above, and assigns the task information of the target cargo to the target shuttle 20. By binding the determined target shuttle 20 with the current cargo, the host computer will not assign task information of other cargo to the target shuttle 20, thereby locking the transportation resources of the shuttle 20 and avoiding deadlock or idleness caused by duplicate task allocation.

[0095] S400: Determine that the target shuttle is in the first preset state, and drive the target shuttle to transport the target goods.

[0096] Here, the shuttle 20 in this embodiment of the application is powered by an independent battery. When the battery capacity of the shuttle 20 is lower than a preset value, the shuttle 20 transmits a low power signal to the host computer so that the host computer determines that the shuttle 20 is in a low power state. The host computer assigns a charging task to the shuttle 20 and drives the shuttle 20 to move to the charging position 331 for charging.

[0097] For example, the shuttle 20 in this application embodiment has multiple preset states (such as the first preset state, the second preset state and the third preset state described above). In this scenario, the shuttle 20 being in a first preset state indicates that its battery level is higher than a first preset value, meaning it is not in a low-battery state and does not need to move to the charging position 331 for charging, thus allowing the host computer to determine that the shuttle 20 is in a standby state. The shuttle 20 being in a second preset state indicates that it is in a low-battery state, meaning its battery capacity is lower than the first preset value, and it needs to move to the charging position 331 for charging. The shuttle 20 being in a third preset state indicates that its battery capacity is higher than or equal to the second preset value (where the second preset value is higher than the first preset value), meaning it has completed charging, and transmits a high-battery signal to the host computer, allowing the host computer to determine that it is in a standby state. The host computer then assigns a discharge task to the shuttle 20, driving it to leave the charging position 331.

[0098] However, this application embodiment does not limit the types of preset states of the shuttle 20 or the specific content of each preset state, as long as the shuttle 20 can transmit signals to the host computer so that the host computer can determine the real-time state of the shuttle 20 based on different signals.

[0099] Specifically, in the shuttle task allocation and scheduling method of this application embodiment, when the shuttle 20 is determined to be in the first preset state in step S400, step S400 is continued to determine the shuttle 20 that matches the goods. The shuttle 20 can be used to load the goods transported by the conveying device 50 and has sufficient power to avoid deadlock.

[0100] Then, the host computer controls the target shuttle 20 to move on the transport track 11 to the loading position corresponding to the conveying device 50 to carry the target goods. Next, the host computer controls the target shuttle 20 to move on the transport track 11 to the drop position corresponding to the target compartment 32 to store the target goods and complete the warehousing operation.

[0101] It is understood that the shuttle task allocation and scheduling method of this application embodiment selects the target shuttle 20 with the shortest movement path and in the first preset state from multiple shuttles 20 in a shuttle group on the track group 10 in steps S200 to S400.

[0102] S500: Unlock the target shuttle.

[0103] Here, when the host computer in this embodiment receives the storage completion signal from the target shuttle 20, for example, when the target shuttle 20 has placed the target goods it carries into the target compartment 32 at the designated location, the host computer confirms that the target shuttle 20 has completed the storage operation, releases the task information binding between the shuttle 20 and the target goods, and thus the host computer can assign new task information (such as task information for new goods or a charging task) to the shuttle 20.

[0104] In summary, the shuttle task allocation and scheduling method described above determines the location of the target compartment indicated in the task information on the shelf based on the task information of the goods. It then selects a target shuttle 20 from the multiple shuttles 20 in the shuttle group based on the real-time location of the shuttles 20, choosing the shuttle 20 with the shortest movement path to the target compartment. The task information of the goods is then bound to this target shuttle 20 to avoid deadlocks or idleness caused by duplicate task allocation. Furthermore, the status of the shuttles 20 is monitored to ensure sufficient power for each shuttle 20, thereby guaranteeing the stability of goods sorting in the automated warehouse system of this embodiment. The entire process is completed by the host computer and the shuttles 20, eliminating the need for manual sorting, saving labor costs, and improving efficiency. Simultaneously, it can more efficiently optimize the path planning of the shuttles 20, accelerate picking speed, optimize the picking process, and improve sorting efficiency.

[0105] For example, before locking the target shuttle 20 in step S300 above, step S301 also needs to be performed.

[0106] S301: Determine that at least one shuttle in the shuttle group is in the unlocked state.

[0107] Here, a shuttle group in this embodiment includes multiple shuttles 20. The fact that a shuttle 20 is in an unlocked state indicates at least that the shuttle 20 has not been assigned a task, that is, the shuttle 20 is not bound to cargo, so that the host computer can assign other cargo task information to the shuttle 20.

[0108] It is understood that in the embodiments of this application, during the process of the host computer of the vertical warehouse system 1 executing the relevant program to implement the shuttle task allocation and scheduling method, a shuttle group usually has at least one shuttle 20 in an unlocked state, that is, at least one shuttle 20 is idle and can be assigned task information.

[0109] For example, according to Figure 4In steps S100 and S200, the corresponding allocation strategy can be determined. When there is only one shuttle 20 in the unlocked state, the host computer determines that the idle shuttle 20 is the target shuttle 20. When there are multiple shuttles 20 in the unlocked state, the host computer determines the idle shuttle 20 with the shortest movement path as the target shuttle 20 according to the above step S200.

[0110] However, the allocation strategy of this application embodiment is not limited to this. This application embodiment does not limit the number and grouping of shuttle cars 20. In the above embodiment, multiple shuttle cars 20 form a shuttle car group, and this shuttle car group corresponds to a grid group. It can be understood that as the number of grids 32 of the shelves 30 in the automated storage and retrieval system 1 increases, in order to speed up the sorting speed and improve the sorting efficiency, the number of shuttle cars 20 in the automated storage and retrieval system 1 is often increased. In other possible implementations, the multiple shuttle cars 20 in this application embodiment can also form multiple shuttle car groups, and the multiple grids 32 can also form multiple grid groups, wherein the multiple shuttle car groups correspond one-to-one with the multiple grid groups.

[0111] For example, multiple shuttle cars 20 can form a first shuttle car group and a second shuttle car group, and multiple grids 32 can form a first grid group and a second grid group. Among them, the first shuttle car group corresponds to the first grid group, and the second shuttle car group corresponds to the second grid group.

[0112] refer to Figure 5 Alternatively, another allocation strategy can be employed in the embodiments of this application. For example... Figure 5 As shown, when the target compartment is located in the second compartment group on the shelf (e.g., Figure 5 When the area is within the dashed box (Area A). Under the allocation strategy of this embodiment, the host computer will preferentially select the shuttle car in the second shuttle car group that is in the unlocked state, that is, the idle shuttle car in the second shuttle car group.

[0113] It is understood that, according to the above steps S100 and S200, when there is only one shuttle 20 in the unlocked state in the second shuttle group, the host computer determines that the idle shuttle 20 is the target shuttle 20.

[0114] When there are multiple shuttle cars 20 in the unlocked state in the second shuttle car group, the host computer determines the idle shuttle car 20 with the shortest movement path in the second shuttle car group as the target shuttle car 20 according to the above-mentioned step S200.

[0115] Specifically, such as Figure 5As shown, at this time, the target compartment for the target cargo is numbered N1, and there are two shuttles in the second shuttle group that are in the unlocked state, numbered M1 and M2. Furthermore, the distance traveled by shuttle M1 from the target compartment numbered N1 (e.g., ...) Figure 5 (As shown by the black line a with arrow) is less than the distance between the shuttle M2 and the target grid numbered N1 (e.g.) Figure 5 As shown by the black line with arrow b), the host computer determines the shuttle with the number M1 as the target shuttle according to the above step S200, locks the target shuttle, and assigns the task information of the cargo to the shuttle with the number M1.

[0116] Furthermore, in the above embodiments, during the execution of the relevant program by the host computer in this application embodiment to implement the shuttle task allocation and scheduling method, idle shuttles are preferentially selected as target shuttles. However, this is not the only possibility; in other possible implementations, refer to... Figure 6 Furthermore, another allocation strategy can be adopted in the embodiments of this application.

[0117] like Figure 6 As shown, the target compartment 32 is located in the first compartment group within the shelf 30 (e.g., Figure 6 Area B within the dashed box.

[0118] Under the allocation strategy of this embodiment, when there are one or more shuttle cars 20 in the unlocked state in the first shuttle car group, the host computer determines the shuttle car in the locked state with the shortest movement path in the first shuttle car group as the target shuttle car based on the shortest path length from the target grid to the unlocked shuttle car in the first shuttle car group and the shortest path length from the task grid to the target grid to the locked shuttle car in the first shuttle car group.

[0119] Specifically, such as Figure 6 As shown, at this time, the target slot for the target cargo is numbered N2. In the first shuttle group, there is one shuttle in the unlocked state, numbered M3, and one shuttle in the locked state, numbered M4. Furthermore, the current task slot of shuttle M4 (e.g., Figure 6 The distance from the target grid numbered N2 (as shown in the grid numbered N3) is (e.g.) Figure 6 (As shown by the black line c with arrow) is less than the distance between the shuttle M3 and the target grid numbered N2 (e.g.) Figure 6 As shown by the black line d with an arrow, the host computer determines the shuttle with the number M4 as the target shuttle according to the above step S200, locks the target shuttle, and assigns the task information of the cargo to the shuttle with the number M4.

[0120] Finally, in this embodiment of the application, after the host computer waits for the shuttle car numbered M4 to complete the task of the previous goods (e.g., the task of entering or leaving the warehouse) and be in the unlocked state, the host computer locks the shuttle car numbered M4 and assigns the task information of the target goods to the shuttle car numbered M4, so as to further optimize the path planning of the shuttle car 20, speed up the picking speed, and improve the sorting efficiency.

[0121] It should be noted that the shuttle task allocation and scheduling method of this application is not limited to the application scenarios mentioned above. Any application scenario that requires rapid sorting of items can be achieved using the shuttle task allocation and scheduling method of this application. For example, it can also be used for product sorting in a factory assembly line.

[0122] Furthermore, the specific structure of the shuttle 20 is not limited in the embodiments of this application. For example, in the above embodiments, the shuttle 20 is an RGV vehicle; but it is not limited thereto. The shuttle 20 in the embodiments of this application can also be other forms of transportation devices, such as a sorting robot that can move along the transportation track 11.

[0123] In addition, the present invention also provides a computer storage medium, including a memory and a processor, wherein the memory is adapted to store computer instructions, and the processor is adapted to execute the shuttle task allocation and scheduling method described in any of the above embodiments when running the computer instructions.

[0124] Now for reference Figure 7 The diagram shows a block diagram of an electronic device 800 according to one embodiment of this 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. In at least one embodiment, the controller hub 803 communicates with the processor 801 via a multi-branch 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 controlling general-type data processing operations. In one embodiment, the controller hub 803 includes, but is not limited to, a Graphics & Memory Controller Hub (GMCH) (not shown) and an Input / Output Hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics host and is coupled to the IOH.

[0125] Electronic device 800 may also include a coprocessor 802 and a memory 804 coupled to a controller hub 803. Alternatively, one or both of the memory and GMCH may be integrated within the processor, with memory 804 and coprocessor 802 directly coupled to processor 801 and controller hub 803, which is on a single chip with IOH.

[0126] Memory 804 may be, for example, Dynamic Random Access Memory (DRAM), Phase Change Memory (PCM), or a combination of both. 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 those instructions. The instructions may include, when executed by at least one of the processors, causing the electronic device 800 to perform, as... Figure 4 The instructions for the shuttle task allocation and scheduling method are shown. When the instructions are executed on a computer, the computer performs the method disclosed in any of the above embodiments or combinations thereof to sort goods into different compartments 32 of the shelf 30.

[0127] In one embodiment, the coprocessor 802 is a dedicated processor, such as, for example, a high-throughput MIC (Many Integrated Core) processor, a network or communication processor, a compression engine, a graphics processor, a GPGPU (General-purpose computing on graphics processing units), or an embedded processor, etc. Optional properties of the coprocessor 802 are indicated by dashed lines. Figure 7 middle.

[0128] In one embodiment, electronic device 800 may further include a network interface 806. Network interface 806 may include a transceiver for providing a radio interface for electronic device 800 to communicate with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, network interface 806 may be integrated with other components of electronic device 800. Network interface 806 can implement the functions of the communication unit in the above embodiments.

[0129] Electronic device 800 may further include input / output device 805. Input / output device 805 may include: a user interface designed to enable a user to interact with electronic device 800; a peripheral component interface designed to enable peripheral components to also interact with electronic device 800; and / or sensors designed to determine environmental conditions and / or location information related to electronic device 800.

[0130] It is worth noting that, Figure 7 This is merely an example. That is, although... Figure 7 The electronic device 800 shown includes multiple devices such as a processor 801, a controller hub 803, and a memory 804. However, in practical applications, devices using the methods of this application may include only a portion of the devices in the electronic device 800. For example, it may include only the processor 801 and the network interface 806. Figure 7 The properties of the optional devices are shown by dashed lines.

[0131] Now for reference Figure 8 The diagram shown is a block diagram of a SoC (System on Chip) 900 according to an embodiment of this application. Figure 8 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 8 In this SoC, the SoC includes: an interconnect unit 950 coupled to a first processor 910; a system proxy unit 980; a bus controller unit 990; an integrated memory controller unit 940; one or more second processors 920, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory unit 930; and a direct memory access unit 960. In one embodiment, the second processor 920 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, a GPGPU (General-purpose computing on graphics processing units), a high-throughput MIC processor, or an embedded processor.

[0132] Static random access memory (SRAM) cell 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, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one of the processors, causing the SoC implementation to... Figure 4 The instructions for the shuttle task allocation and scheduling method are shown. When the instructions are executed on a computer, the computer performs the method disclosed in the above embodiments.

[0133] This application also provides a computer program product for implementing the shuttle task allocation and scheduling method provided in the above embodiments.

[0134] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer program modules or module code executable on a programmable system, the programmable system including 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.

[0135] Computer program modules or module code can be applied to input instructions to perform the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcomputer, an application-specific integrated circuit (ASIC), or a microprocessor.

[0136] Module code can be implemented using a high-level modular language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used to implement module code when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0137] 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 or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine-readable (e.g., computer-readable) form, 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 cards or optical cards, flash memory, or tangible machine-readable storage for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using the Internet in the form of electrical, optical, acoustic, or other forms of propagated signals. Therefore, machine-readable media include any type of machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine-readable (e.g., computer-readable) form.

[0138] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. A shuttle car task allocation and scheduling method, applied to an automated storage and retrieval system (AS / RS), wherein the AS / RS includes multiple shuttle cars and shelves, the shelves include multiple compartments, each compartment is used to hold goods, and the shuttle cars are used to carry goods and move relative to the shelves to transport goods, characterized in that... The shuttle vehicle task allocation and scheduling method includes: Obtain the task information of the target cargo, and determine the target compartment based on the task information; Based on the location of the target compartment and the shuttle car in the shelf, determine the target shuttle car with the shortest path to the target compartment; Lock onto the target shuttle and assign the task information of the target cargo to the target shuttle; The target shuttle is determined to be in a first preset state, and the target shuttle is driven to transport the target goods. The first preset state at least indicates that the target shuttle is not in a low battery state. Unlock the target shuttle.

2. The shuttle task allocation and scheduling method according to claim 1, characterized in that, The multiple shuttle cars form a shuttle car group, the multiple compartments form a compartment group, and determining the target shuttle car with the shortest path to the target compartment based on the target compartment and the position of the shuttle car in the shelf includes: Determine that at least one shuttle in the shuttle group is in an unlocked state; Based on the path length from at least one shuttle in the unlocked state to the target grid, determine the target shuttle with the shortest path to the target grid. The unlocked state indicates at least that the shuttle has not been assigned a task.

3. The shuttle task allocation and scheduling method according to claim 1, characterized in that, The multiple shuttle cars form multiple shuttle car groups, and the multiple compartments form multiple compartment groups. Each shuttle car group corresponds one-to-one with each of the multiple compartment groups. Determining the target shuttle car with the shortest path to the target compartment based on the position of the target compartment and the shuttle car within the shelf includes: Determine the shuttle group corresponding to the grid group of the target grid; Determine that at least one shuttle in the shuttle group is in an unlocked state; Based on the path length from at least one shuttle in the unlocked state to the target grid, determine the target shuttle with the shortest path to the target grid. The unlocked state indicates at least that the shuttle has not been assigned a task.

4. The shuttle task allocation and scheduling method according to claim 3, characterized in that, The determination of the target shuttle car with the shortest path to the target compartment based on the position of the target compartment and the shuttle car in the shelf includes: Determine the shuttle group corresponding to the grid group of the target grid; Determine that at least one shuttle in the shuttle group is in an unlocked state; Determine that at least one shuttle in the shuttle group is in a locked state; Based on the path length from the target grid to at least one unlocked shuttle in the shuttle group and the path length from the task grid to the target grid to at least one locked shuttle in the shuttle group, determine the target shuttle with the shortest path to the target grid. The locked state at least indicates that the shuttle has been assigned a task.

5. The shuttle task allocation and scheduling method according to claim 1, characterized in that, The shelf also includes a charging layer, which comprises a plurality of spaced-apart charging positions: The shuttle task allocation and scheduling method also includes: Confirm that the shuttle is unlocked; Once the shuttle is determined to be in a second preset state, the shuttle is driven to move to the charging position on the charging layer, and the target shuttle is locked. The second preset state at least indicates that the shuttle is in a low battery state.

6. The shuttle task allocation and scheduling method according to claim 5, characterized in that, The shuttle task allocation and scheduling method also includes: The shuttle is located at the charging position; Once the shuttle is confirmed to be in the third preset state, the target shuttle is unlocked and driven to the preset point. The third preset state at least indicates that the shuttle is in a high battery state.

7. A vertical warehouse system, characterized in that, include: The shelf includes multiple compartments, each of which is used to hold goods; Multiple shuttle cars, each of which includes a transport unit, the shuttle car being used to move relative to the shelf, the transport unit being used to carry goods and remove the goods from the compartment, or store the goods in the compartment; A host computer is connected to each of the plurality of shuttle cars, and the host computer is used to execute the shuttle car task allocation and scheduling method according to any one of claims 1 to 6.

8. A computer storage medium, characterized in that, The system includes a memory and a processor, the memory being adapted to store computer instructions, and the processor being adapted to execute the shuttle task allocation and scheduling method according to any one of claims 1 to 6 when running the computer instructions.

9. A computer program product, characterized in that, It includes a computer program / instruction that, when executed by a processor, implements the shuttle task allocation and scheduling method as described in any one of claims 1 to 6.

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