A warehouse operation scheduling method and system based on a hoist and a four-way vehicle

Abstract

This application relates to a warehouse operation scheduling method based on elevators and four-way vehicles, applied to a warehouse system where a conveyor is installed at the elevator, but no conveyor is installed at the connection between the elevator and the rack. The method includes: receiving a scheduling task issued by a host computer and determining the task type; when it is an outbound task, controlling the four-way vehicle to pick up the goods and perform access verification on the vehicle to be driven into the elevator; after the verification is passed, controlling the four-way vehicle to drive into the elevator and determining the outbound destination; if the destination is a picking station set up separately from the elevator, controlling the four-way vehicle to drive out of the elevator at the corresponding level and deliver the goods to the picking station; if the destination is an inbound / outbound station directly connected to the elevator, controlling the four-way vehicle to place the goods on the conveyor at the elevator, and the conveyor inside the elevator delivers the goods to the inbound / outbound station; after the goods are placed, determining the level from which the four-way vehicle will leave based on the task priority in the current outbound task list. This method can improve the outbound scheduling efficiency and the orderly coordination of equipment under a specific warehouse layout.

Description

Technical Field

[0001] This application relates to the field of warehouse operation scheduling technology, and in particular to a warehouse operation scheduling method and system based on a hoist and a four-way vehicle. Background Technology

[0002] With the continuous development of intelligent warehousing and logistics automation technologies, dense warehousing systems composed of equipment such as four-way vehicles, elevators, racks, and platforms have been widely used in manufacturing, pharmaceuticals, e-commerce, cold chain, and retail distribution. These warehousing systems typically use four-way vehicles to handle the lateral movement of goods within rack levels and elevators to handle the vertical transfer of four-way vehicles and / or goods between different levels, thereby automating inbound, outbound, and relocation processes.

[0003] In existing technologies, research and applications of four-way vehicle warehousing systems primarily focus on task allocation, path planning, intra-level obstacle avoidance, vehicle scheduling, and equipment collaborative control. For example, inbound or outbound tasks are generated based on order requirements and assigned to idle four-way vehicles; or preset scheduling strategies control four-way vehicles to pick up and place goods at the target level, and use elevators to complete inter-level transfers when cross-level transfers are needed. For typical warehouse layouts, these scheduling methods can meet the needs of automated operations to a certain extent.

[0004] However, in practical engineering applications, the equipment layout of different warehousing systems varies significantly. For example, in one business scenario, a conveyor is located at the elevator, but no conveyor is installed at the connection between the elevator and the racking, and the elevator can also directly connect to the inbound / outbound platform. In this layout, goods may be directly transported to the inbound / outbound platform by the conveyor at the elevator when leaving the warehouse, or they may still need to be transported by a four-way vehicle after leaving the elevator to a picking platform that is separate from the elevator. Therefore, the coordination relationship between the four-way vehicle, elevator, and conveyor in this layout differs significantly from that of a conventional warehousing layout. However, existing scheduling methods are usually designed for more common warehousing equipment connection methods and lack adaptability to the scheduling of the specific layout scenarios described above. Summary of the Invention

[0005] To overcome, to some extent, the problem that existing scheduling methods are usually designed for more general warehouse equipment connection methods and have insufficient scheduling adaptability in specific layout scenarios where a conveyor is set at the elevator but no conveyor is set at the connection between the elevator and the rack, this application provides a warehouse operation scheduling method and system based on elevators and four-way vehicles.

[0006] The proposed solution is as follows:

[0007] According to a first aspect of the embodiments of this application, a warehouse operation scheduling method based on a hoist and a four-way vehicle is provided, applied to a warehouse system in which a conveyor is installed at the hoist, but no conveyor is installed at the connection between the hoist and the rack, the method comprising:

[0008] Receive scheduling tasks from the host computer and determine the type of scheduling task;

[0009] If the scheduling task is an outbound task, control the four-way vehicle to retrieve the goods from the storage location, and perform access verification on the hoist where the four-way vehicle is about to enter.

[0010] After the access verification is passed, the four-way vehicle is controlled to drive into the hoist and the destination of the outbound vehicle is determined;

[0011] If the outbound destination is a picking station that is separate from the elevator, control the four-way vehicle to drive out of the elevator at the corresponding level of the picking station and transport the outbound goods to the picking station;

[0012] If the destination of the outbound goods is an inbound / outbound platform that is directly connected to the elevator, control the four-way vehicle to place the outbound goods on the conveyor at the elevator, and control the conveyor inside the elevator to deliver the outbound goods to the inbound / outbound platform.

[0013] After the four-way vehicle places the outbound goods onto the conveyor, it obtains the current outbound task list and determines the departure level of the four-way vehicle based on the priority of the outbound tasks in the current outbound task list.

[0014] Preferably, the method further includes:

[0015] If the scheduling task is an inbound task, an access verification is performed on the hoist for the four-way vehicle waiting to enter.

[0016] After the access verification is passed, the four-way vehicle is controlled to drive into the hoist;

[0017] Control the elevator to travel to the corresponding inbound / outbound platform, and use the conveyor to transport the inbound goods to the elevator;

[0018] After the four-way vehicle picks up the goods from the elevator, it moves with the elevator to the corresponding level of the target cargo location, and then drives out of the elevator from that level to transport the goods to the target cargo location.

[0019] Preferably, the method further includes:

[0020] If the scheduling task is a warehouse moving task, control the four-way vehicle to pick up the goods at the goods delivery level, and perform access verification on the hoist that the four-way vehicle is about to enter.

[0021] After the access verification is passed, the four-way vehicle is controlled to drive into the hoist;

[0022] Control the hoist to run to the corresponding level of the target cargo location, and control the four-way vehicle to drive out of the hoist from that level to transport the goods to the target cargo location.

[0023] Preferably, the departure level of the four-way vehicle is determined according to the priority of the outbound tasks in the current outbound task list, including:

[0024] If there are no outbound tasks to be executed in the current outbound task list, control the four-way vehicle to drive out of the hoist from the current level;

[0025] If there are pending outbound tasks in the current outbound task list, then sort the pending outbound tasks according to the preset priority rules.

[0026] If there is no available four-way vehicle at the level corresponding to the highest priority outbound task, the four-way vehicle is controlled to move with the elevator to the level corresponding to the highest priority outbound task and then exit the elevator from that level.

[0027] If multiple outbound tasks to be executed after sorting have the same priority, then determine whether there are any outbound tasks to be executed in the current layer.

[0028] If there are outbound tasks to be executed at the current level, control the four-way vehicle to drive out of the hoist from the current level;

[0029] If there are no outbound tasks to be executed in the current layer, then search for the target layer where there are outbound tasks to be executed but no available four-way vehicles, and control the four-way vehicles to run with the elevator to the target layer and then drive out of the elevator.

[0030] Preferably, the access verification includes:

[0031] Determine whether the target hoist that the four-way vehicle is about to enter is in an available state;

[0032] If the target elevator is in an available state, determine whether there is a four-way vehicle or cargo on the target elevator;

[0033] If there are no four-way vehicles or goods on the target hoist, then check if there is a scheduling task matching the target hoist in the current scheduling task list;

[0034] If there is no matching scheduling task for the target elevator in the current scheduling task list, the admission verification passes.

[0035] Preferably, before controlling the four-way vehicle to leave the hoist, the method further includes:

[0036] Obstacle avoidance verification is performed on the exit level of the four-way vehicle;

[0037] After the obstacle avoidance test is passed, the four-way vehicle is controlled to drive out of the hoist.

[0038] Preferably, the obstacle avoidance verification includes:

[0039] Determine if there are other four-way vehicles parked at the current four-way vehicle's exit, determine if there are other four-way vehicles whose work routes pass through the current four-way vehicle's exit, and determine if there are other four-way vehicles whose work routes have the current four-way vehicle's exit as their destination.

[0040] If no other four-way vehicles are parked at the exit of the current four-way vehicle, and no other four-way vehicles' work paths pass through the exit of the current four-way vehicle, and no other four-way vehicles' work paths have the exit of the current four-way vehicle as their destination, then the obstacle avoidance check is passed.

[0041] Preferably, the method further includes:

[0042] If the current hoist is only transporting empty four-way cars, determine the type of scheduling task currently being performed by the hoist;

[0043] If the current scheduling task performed by the hoist is an inbound task, determine whether there are corresponding inbound goods in the corresponding inbound / outbound station.

[0044] If there are corresponding goods to be received at the inbound / outbound station, the inbound operation will continue.

[0045] If there are no corresponding goods to be received at the inbound / outbound platform, the empty four-way vehicle is controlled to leave the current hoist and wait for subsequent tasks to be assigned.

[0046] Preferably, the method further includes:

[0047] If the hoist is currently carrying only goods, determine the type of scheduling task being performed by the hoist.

[0048] If the current scheduling task being performed by the hoist is an outbound task, then continue performing the outbound operation;

[0049] If the current hoist is performing a storage task, then the four-way vehicle will be reassigned to perform the storage task.

[0050] According to a second aspect of the embodiments of this application, a warehouse operation scheduling system based on a hoist and a four-way vehicle is provided, comprising:

[0051] Elevators, conveyors, four-way vehicles, picking stations, inbound and outbound station processors and memory;

[0052] The conveyor is located at the elevator;

[0053] The picking station is separately installed from the elevator;

[0054] The warehouse entry / exit platform is directly connected to the elevator.

[0055] The processor and memory are connected via a communication bus:

[0056] The processor is used to call and execute the program stored in the memory;

[0057] The memory is used to store a program, which is at least used to execute a warehouse operation scheduling method based on a hoist and a four-way vehicle as described in any of the above.

[0058] The technical solution provided in this application may include the following beneficial effects:

[0059] This technical solution addresses a specific warehouse layout where a conveyor is installed at the elevator but not at the connection point between the elevator and the shelving. It constructs an outbound scheduling process tailored to this layout: Firstly, by implementing access checks before four-way vehicles enter the elevator, the accessibility of the target elevator can be pre-judged, reducing elevator occupancy conflicts and invalid entries, and improving the coordinated order between the four-way vehicles and the elevator. Secondly, by distinguishing between two different outbound destinations—"picking stations separated from the elevator" and "inbound / outbound stations directly connected to the elevator"—a separate outbound scheduling process is implemented, employing four-way vehicles... The differentiated outbound methods of continuing transfer to the vehicle and direct transport by the elevator conveyor can adapt the cargo flow path to the layout of on-site equipment, reduce unnecessary handling links, and improve outbound efficiency. In addition, after the four-way vehicle places the outbound goods on the conveyor, the departure level of the four-way vehicle is determined by the priority of the outbound tasks in the current outbound task list. This allows empty four-way vehicles to promptly transfer to a more suitable working level after completing the current delivery action, reducing empty vehicle waiting and cross-level empty driving, improving the utilization rate of the four-way vehicles and the continuous operation capability of the system, thereby improving the overall scheduling efficiency and operational stability of the warehousing system in specific layout scenarios.

[0060] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0062] Figure 1 This is a schematic diagram of the outbound operation process in a warehouse operation scheduling method based on a hoist and a four-way vehicle, provided in one embodiment of this application;

[0063] Figure 2This is a schematic diagram of the inbound operation process in a warehouse operation scheduling method based on a hoist and a four-way vehicle, provided in one embodiment of this application;

[0064] Figure 3 This is a schematic diagram of the warehouse relocation process in a warehouse operation scheduling method based on a hoist and a four-way vehicle, provided in one embodiment of this application. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0066] Example 1

[0067] A warehouse operation scheduling method based on elevators and four-way vehicles is applied to a warehouse system where a conveyor is installed at the elevator, but no conveyor is installed at the connection between the elevator and the rack. (Refer to...) Figure 1 The methods include:

[0068] S11. Receive the scheduling task sent by the host computer and determine the type of scheduling task;

[0069] S12. If the scheduling task is an outbound task, control the four-way vehicle to pick up the goods at the storage location and perform access verification on the hoist where the four-way vehicle is waiting to enter.

[0070] S13. After the access verification is passed, control the four-way vehicle to drive into the hoist and determine the outbound destination;

[0071] S14. If the outbound destination is a picking station that is separate from the elevator, control the four-way vehicle to drive out of the elevator at the corresponding level of the picking station and transport the outbound goods to the picking station.

[0072] S15. If the destination of the outbound goods is the inbound / outbound platform that is directly connected to the elevator, control the four-way vehicle to place the outbound goods on the conveyor at the elevator, and control the conveyor inside the elevator to send the outbound goods to the inbound / outbound platform.

[0073] S16. After the four-way vehicle places the outbound goods on the conveyor, obtain the current outbound task list and determine the departure level of the four-way vehicle according to the priority of the outbound tasks in the current outbound task list.

[0074] For ease of understanding, the following explains some key terms in this embodiment:

[0075] Elevator: An automated device used for vertical transport of goods or equipment between different floors, typically having one or more cargo platforms, capable of cross-floor transfer of goods or four-way vehicles.

[0076] Four-way vehicle: A type of intelligent handling equipment that can move freely in four directions (front, back, left, and right) within a rack aisle, mainly used for storing and retrieving goods and lateral handling within rack layers.

[0077] Conveyor: A mechanical device used for the continuous transport of materials. In this embodiment, it usually refers to a device installed at a hoist or platform for the horizontal transport of goods over short distances.

[0078] Host computer: The central control system that directs and manages the operation of the entire warehousing system. It is responsible for receiving orders, generating scheduling tasks, monitoring equipment status, and issuing instructions.

[0079] Scheduling tasks: A set of instructions generated by the host computer based on business needs (such as warehousing, outbound, and relocation) to guide equipment such as four-way vehicles and elevators to execute specific work processes.

[0080] Access verification: refers to a series of checks performed by the system on the current status, occupancy status and matching with the task to be performed of the hoist before the four-way vehicle attempts to drive into the hoist, in order to ensure safe and efficient equipment handover.

[0081] Picking station: A work area separate from the elevator, typically used for manual or automated picking operations, where four-way vehicles transport goods from the elevator to the station.

[0082] Inbound / outbound platform: A working area that directly connects to the elevator and is used for the handover of goods entering or leaving the warehouse. Goods can be directly delivered or received by the conveyor at the elevator.

[0083] Outbound Task List: This is a collection of all outbound tasks to be executed in the current system, containing relevant information for each outbound task, such as destination and priority.

[0084] Priority: refers to the importance or urgency of the scheduled tasks in the execution order. The system will sort the tasks according to preset rules and execute the tasks with higher priority first.

[0085] This embodiment provides a warehouse operation scheduling method based on a hoist and a four-way vehicle. This method is applied to a specific warehouse system where a conveyor is installed at the hoist, but no conveyor is installed at the connection between the hoist and the rack. This layout is the specific scenario addressed in this embodiment.

[0086] Specifically, this method first receives a scheduling task issued by a host computer and determines the type of the received task. The scheduling task can be sent by the host computer to the control module of the warehousing system via wired or wireless communication. After receiving the task, the control module can identify the task type based on identifiers or field information contained in the task data packet, such as task code and task description. Task types can include, but are not limited to, inbound tasks, outbound tasks, warehouse relocation tasks, and inventory tasks. For example, when a task instruction containing the word "outbound" is received, the system determines it to be an outbound task.

[0087] Furthermore, if the task is determined to be an outbound task, the four-way vehicle is guided to the target storage location to retrieve the goods, and an access check is performed on the elevator the four-way vehicle is about to enter. When a scheduling task is determined to be an outbound task, the system sends an instruction to the designated four-way vehicle, guiding it to the target storage location to perform the retrieval operation. After retrieval, the four-way vehicle plans a route to the nearest or most suitable elevator. Before the four-way vehicle attempts to enter the elevator, the system performs an access check. This check can simply determine whether the elevator is idle, for example, by detecting whether there are other vehicles or goods on the elevator, or whether the elevator is performing other operations. If the elevator is occupied, the four-way vehicle must wait.

[0088] Based on this, after the access verification is passed, the four-way vehicle is controlled to drive into the elevator and determine the outbound destination. Once the access verification result is passed, the system will send instructions to the four-way vehicle to drive it safely and smoothly into the elevator. After the four-way vehicle enters the elevator, the system will determine the final destination of the outbound goods based on the detailed information of the current outbound task. The outbound destination can be explicitly specified in the scheduling task in advance, for example, by identifying it through a destination code or name. For example, the task instruction may contain information such as "Destination: Picking Platform A" or "Destination: Inbound / Outbound Platform B".

[0089] In a preferred implementation, if the outbound destination is determined to be a picking station separate from the elevator, the four-way vehicle is controlled to exit the elevator at the corresponding level of the picking station and transport the outbound goods to that picking station. When the system determines that the outbound destination is a picking station separate from the elevator, the elevator will be controlled to run to the floor where the picking station is located. After reaching the designated floor, the system will send an instruction to the four-way vehicle to exit the elevator and transport the retrieved goods to the designated location of the picking station along a preset path. For example, the four-way vehicle can exit the elevator and travel laterally a certain distance within the shelf layer, eventually placing the goods in the designated area of ​​the picking station, awaiting subsequent manual or automated picking processing.

[0090] As another preferred implementation, if the outbound destination is determined to be an inbound / outbound platform directly connected to the elevator, the four-way vehicle is controlled to place the outbound goods onto the conveyor at the elevator, and the conveyor inside the elevator is controlled to deliver the outbound goods to the inbound / outbound platform. Alternatively, if the outbound destination is determined to be an inbound / outbound platform directly connected to the elevator, the four-way vehicle will place the outbound goods onto the conveyor inside the elevator or at the elevator entrance. After placement, the system will activate and control the conveyor to transport the goods directly from the elevator to the corresponding inbound / outbound platform. For example, the conveyor could be a roller conveyor belt; after the goods are placed, the rollers rotate to smoothly deliver the goods out of the elevator until they reach the designated receiving point at the inbound / outbound platform.

[0091] Furthermore, after the four-way vehicle places the outbound goods onto the conveyor, the system retrieves the current outbound task list and determines the departure level of the four-way vehicle based on the priority of the outbound tasks in the list. Once the four-way vehicle completes the operation of placing the outbound goods onto the conveyor, the system immediately retrieves a list of all currently pending outbound tasks from the database or memory. This list contains detailed information about each outbound task, including its preset priority. The system uses this priority information, for example, by comparing numerical values ​​or preset rules, to determine the next floor the four-way vehicle should exit the elevator from. For example, the system can simply select the floor corresponding to the highest priority task as the departure level for the four-way vehicle, regardless of whether other four-way vehicles are available on that floor.

[0092] In summary, this embodiment provides a warehouse operation scheduling method for a specific warehouse layout (a conveyor is installed at the elevator, but no conveyor is installed at the connection between the elevator and the rack). This technical solution constructs an outbound scheduling process that matches this layout: on the one hand, by setting an access check before the four-way vehicle enters the elevator, the accessibility of the target elevator can be pre-judged before the four-way vehicle enters, thereby reducing elevator occupancy conflicts and invalid entries, and improving the coordinated orderliness between the four-way vehicle and the elevator; on the other hand, by distinguishing between two different outbound destinations—"picking stations separated from the elevator" and "inbound / outbound stations directly connected to the elevator"—the method employs either continued transfer by the four-way vehicle or direct transfer by the conveyor inside the elevator, respectively. The differentiated outbound delivery method allows the cargo flow path to be adapted to the layout of on-site equipment, reducing unnecessary handling steps and improving outbound efficiency. In addition, after the four-way vehicle places the outbound goods on the conveyor, the departure level of the four-way vehicle is determined by combining the priority of the outbound tasks in the current outbound task list. This allows empty four-way vehicles to promptly transfer to a more suitable operating level after completing the current delivery action, reducing empty vehicle waiting and cross-level empty driving, improving the utilization rate of the four-way vehicles and the continuous operation capability of the system, thereby improving the overall scheduling efficiency and operational stability of the warehousing system in specific layout scenarios.

[0093] Example 2

[0094] Reference Figure 2 The methods also include:

[0095] S21. If the scheduling task is an inbound task, perform an access verification on the hoist for the four-way vehicle waiting to enter.

[0096] S22. After the access verification is passed, control the four-way vehicle to drive into the hoist;

[0097] S23. Control the elevator to travel to the corresponding inbound / outbound platform, and transport the inbound goods to the elevator via the conveyor.

[0098] S24. After the four-way vehicle picks up the goods from the elevator, it moves with the elevator to the corresponding floor of the target cargo location and drives out of the elevator from that floor to transport the goods to the target cargo location.

[0099] Specifically, when the dispatching system identifies an inbound task, an access check is performed before the four-way vehicle enters the elevator. This check assesses the current status of the target elevator, such as whether it is idle, whether it is performing other higher-priority tasks, or whether there is a malfunction. Access checks effectively prevent four-way vehicles from entering the elevator at inappropriate times, thus preventing potential equipment conflicts or operational interruptions. Once the access check is successful, the dispatching system issues instructions to the four-way vehicle, guiding it safely and accurately into the designated elevator. After the four-way vehicle enters the elevator, the elevator will move vertically to the level corresponding to the inbound / outbound platform where the goods are located, based on the inbound task's target information. At this level, conveyors on the inbound / outbound platform (such as roller conveyors or chain conveyors) will smoothly transport the goods to be inbound to the designated location inside the elevator for the four-way vehicle to retrieve. After the four-way vehicle has finished loading the goods, the elevator will carry the four-way vehicle and the goods vertically to the level of the target storage location. Upon reaching the target level, the four-way vehicle will exit from the elevator and transport the goods along the preset path to the final target storage location, thus realizing the storage of the goods.

[0100] Example 3

[0101] Reference Figure 3 The methods also include:

[0102] S31. If the scheduling task is a warehouse moving task, control the four-way vehicle to pick up the goods at the goods delivery level, and perform access verification on the hoist that the four-way vehicle is waiting to enter.

[0103] S32. After the access verification is passed, control the four-way vehicle to drive into the hoist;

[0104] S33. Control the hoist to run to the corresponding level of the target cargo location, and control the four-way vehicle to drive out of the hoist from that level to transport the goods to the target cargo location.

[0105] Specifically, when the system receives a scheduling task from the host computer and determines that it is a warehouse relocation task, the scheduling system will initiate the corresponding warehouse relocation process. A warehouse relocation task typically refers to the operation of transferring goods from one storage location to another in a warehousing system, aiming to optimize storage layout, adjust inventory, or meet other management needs.

[0106] For warehouse relocation tasks, the system first controls the four-way vehicle to move to the cargo exit level where the goods to be moved are located, and accurately retrieves the goods from their original location. This process involves the four-way vehicle's path planning and positioning, as well as the precise operation of the cargo gripping or carrying mechanism, to ensure that the goods are safely and efficiently retrieved from their original location.

[0107] Before a four-way vehicle is about to enter a hoist, the system performs an access check on the hoist it is about to enter. This check aims to confirm whether the target hoist is currently available, such as not being occupied by other tasks, having no malfunctions, and having sufficient internal space for the four-way vehicle to enter, in order to ensure operational safety and smooth workflow. If the check fails, the system will wait for or reassign a hoist.

[0108] Once the access verification is successfully completed, the system will issue a command to guide the four-way vehicle, already loaded with goods, smoothly into the elevator. This step ensures that the four-way vehicle can safely and accurately enter the elevator's carrying platform, preparing for subsequent vertical transportation.

[0109] After the four-way vehicle enters the elevator, the system controls the elevator to move vertically to the corresponding floor of the target cargo location based on the target cargo location information specified in the warehouse relocation task. The precise operation of the elevator ensures that the goods can be transported to the correct vertical position, laying the foundation for the subsequent horizontal transportation by the four-way vehicle.

[0110] Once the hoist reaches the floor containing the target cargo location, the system will control the four-way vehicle to exit the hoist from that floor and transport the goods to the final target cargo location according to the preset path. This process includes the four-way vehicle's path planning, obstacle avoidance, and precise placement of goods at the target cargo location, thereby completing the cargo transfer stage of the entire warehouse relocation operation.

[0111] Example 4

[0112] It should be noted that the departure level of the four-way vehicle is determined based on the priority of the outbound tasks in the current outbound task list, including:

[0113] If there are no outbound tasks to be executed in the current outbound task list, control the four-way vehicle to drive out of the hoist from the current level;

[0114] If there are pending outbound tasks in the current outbound task list, then sort the pending outbound tasks according to the preset priority rules.

[0115] If there is no available four-way vehicle on the floor corresponding to the highest priority outbound task, then control the four-way vehicle to move with the elevator to the floor corresponding to the highest priority outbound task, and drive out of the elevator from that floor.

[0116] If multiple outbound tasks to be executed after sorting have the same priority, then determine whether there are any outbound tasks to be executed in the current layer.

[0117] If there are outbound tasks to be executed at the current level, control the four-way vehicle to drive out of the hoist from the current level;

[0118] If there are no outbound tasks to be executed at the current layer, then search for the target layer where there are outbound tasks to be executed but no available four-way vehicles, and control the four-way vehicles to run with the elevator to the target layer and then drive out of the elevator.

[0119] In this embodiment, the system first determines whether there are any pending outbound tasks in the current outbound task list. If there are no pending outbound tasks in the current outbound task list, the four-way vehicle is controlled to leave the elevator from the current level. This is to prevent the four-way vehicle from occupying elevator resources for a long time and to allow it to return to the racking area as soon as possible to ensure that the elevator can respond to new task requests in a timely manner and that the four-way vehicle is in a relatively flexible standby state.

[0120] If there are pending outbound tasks in the current outbound task list, these tasks are sorted according to a preset priority rule. This preset priority rule can be based on various factors, such as the urgency of the task, the type of goods, the destination, the task generation time (e.g., first-come, first-served principle), or the distance between the current location of the four-way vehicle and the target location of the task. By sorting, the system can identify the most urgent task at hand, providing a basis for subsequent four-way vehicle scheduling.

[0121] Subsequently, the system determines whether there is an available four-way vehicle (4WD) on the floor corresponding to the highest-priority outbound task. If no 4WD is available on the floor corresponding to the highest-priority outbound task, the 4WD is controlled to move with the elevator to the floor corresponding to the highest-priority outbound task and exit the elevator from that floor. After determining the highest-priority outbound task, the system checks whether there are other idle 4WDs available on the corresponding shelf floor. If there are no available 4WDs on that floor, to ensure that the high-priority task can be started in a timely manner, the system instructs the 4WD that has just completed its task to move with the elevator to the floor where the high-priority task is located and exit from that floor, thus directly engaging in the execution of the high-priority task. This avoids delays caused by waiting for other 4WDs to become available or being dispatched from a distance.

[0122] If multiple outbound tasks have the same priority after being sorted, the system further determines whether there are any outbound tasks to be executed in the current layer. When multiple outbound tasks have the same highest priority, the system needs to refine its decision. In this case, an effective strategy is to prioritize whether there are any tasks to be executed in the layer where the current four-way vehicle is located.

[0123] If there are pending outbound tasks on the current level, the four-way vehicle is controlled to drive out of the elevator from the current level. If the current level of the four-way vehicle happens to have one or more pending outbound tasks with the same highest priority, the most direct and efficient approach is to have the four-way vehicle drive directly out of the elevator from the current level and immediately begin executing the task. This minimizes the travel distance of the four-way vehicle and the hoist's running time, thus improving operational efficiency.

[0124] If there are no pending outbound tasks in the current layer, the system searches for target layers with pending outbound tasks but no available four-way vehicles. The four-way vehicle then travels with the elevator to the target layer and exits the elevator. If the current layer has no pending tasks with the same priority as the highest priority task, the system further searches other layers with pending outbound tasks but lacking available four-way vehicles. Once such a target layer is found, the system controls the four-way vehicle to travel with the elevator to that target layer and exits from that layer to fill the resource gap and ensure that tasks can be processed promptly. This strategy aims to balance task priority and resource utilization, avoiding situations where tasks accumulate on some layers while four-way vehicles are idle on others.

[0125] Example 5

[0126] It should be noted that the access verification includes:

[0127] Determine whether the target hoist that the four-way vehicle is about to enter is in an available state;

[0128] If the target hoist is in an available state, determine whether there is a four-way vehicle or cargo on the target hoist;

[0129] If there are no four-way vehicles or goods on the target hoist, then check if there is a scheduling task matching the target hoist in the current scheduling task list;

[0130] If there is no matching scheduled task for the target lift in the current scheduled task list, the admission verification will pass.

[0131] Access verification is a crucial control mechanism that ensures the orderly and safe entry of four-way vehicles into the target hoist. Its function is to avoid resource conflicts and congestion within the hoist, guarantee the smooth operation of warehousing processes, and improve the overall operational efficiency of the system. This verification process is typically completed collaboratively by the central dispatch system or the hoist control module.

[0132] Determining whether the target hoist for the four-way vehicle is in an available state aims to confirm whether the target hoist is currently in a normal working state, i.e., not in a non-available state such as malfunction, not undergoing maintenance, or in an emergency stop. An available state means that the hoist can respond normally to dispatch commands and perform lifting or docking operations. This can be achieved by having the hoist's own sensors or control system periodically report its operating status to the dispatch system. When the dispatch system receives a four-way vehicle entry request, it queries and verifies the latest status information of the target hoist.

[0133] The step of determining whether a four-way vehicle or cargo is already on the target hoist is crucial to prevent four-way vehicles from forcibly entering when the hoist is occupied, thereby avoiding collisions and damage to equipment or cargo, and ensuring that the internal space of the hoist is sufficient to accommodate a four-way vehicle waiting to enter. This can be achieved by installing detection devices such as photoelectric sensors, weight sensors, or RFID readers inside the hoist to monitor the presence of four-way vehicles or cargo in real time. Simultaneously, the dispatching system will also maintain the real-time occupancy status of the hoist based on issued task instructions and vehicle location information.

[0134] The system checks if a matching task exists in the current task list for the target hoist. This step ensures that the target hoist is not currently pre-booked by other higher-priority or conflicting tasks, or assigned to other ongoing jobs. A "matching task" here refers to an existing task that might conflict with the task currently being performed by the four-way vehicle entering the hoist or occupy hoist resources. If such a task exists, it needs to be waited for or re-evaluated. This can be achieved by maintaining a global task list through the scheduling system, recording the tasks currently being performed or about to be performed by each hoist. When a four-way vehicle requests to enter the hoist, the scheduling system checks whether the hoist has been explicitly locked or occupied by other tasks.

[0135] If none exist, the access verification passes. When the target hoist is available, there are no other four-way vehicles or cargo occupying it, and there are no conflicting or pre-booked scheduling tasks in the current scheduling task list, the hoist is considered to meet the conditions for four-way vehicle entry, and the access verification passes. This means the hoist is ready to receive the current four-way vehicle and can safely perform subsequent entry operations.

[0136] Example 6

[0137] It should be noted that, before controlling the four-way vehicle to leave the hoist, the methods also include:

[0138] Obstacle avoidance verification is performed on the exit level of the four-way vehicle;

[0139] After the obstacle avoidance test is passed, control the four-way vehicle to drive out of the hoist.

[0140] Specifically, obstacle avoidance verification includes:

[0141] Determine if there are other four-way vehicles parked at the current four-way vehicle's exit, determine if there are other four-way vehicles whose work routes pass through the current four-way vehicle's exit, and determine if there are other four-way vehicles whose work routes have the current four-way vehicle's exit as their destination.

[0142] If no other four-way vehicles are parked at the exit of the current four-way vehicle, and no other four-way vehicles' work paths pass through the exit of the current four-way vehicle, and no other four-way vehicles' work paths have the exit of the current four-way vehicle as their destination, then the obstacle avoidance check is passed.

[0143] Specifically, during obstacle avoidance testing, the system first determines if any other four-way vehicles are parked at the exit point for the current four-way vehicle. This is typically achieved by monitoring the real-time location information of all four-way vehicles. The system obtains the coordinates or markers of the exit area from which the current four-way vehicle is about to exit and queries whether there are any other four-way vehicles in a stationary or temporarily parked state within that area. If another four-way vehicle is detected occupying the exit, the obstacle avoidance test fails, and the four-way vehicle will wait.

[0144] Secondly, the system will determine if any other four-way vehicles' operating paths pass through the current four-way vehicle's exit. This requires the system to not only know the current position of the four-way vehicle but also its planned or currently executing operating path. When the current four-way vehicle is about to exit the elevator, the scheduling system will analyze the path plans of all other active four-way vehicles to predict whether they will pass through the current four-way vehicle's exit in the near future. If there are path intersections or overlaps, even if the current exit is temporarily empty, a conflict may occur immediately after the four-way vehicle exits. Therefore, if such a situation is detected, the obstacle avoidance check will fail.

[0145] Furthermore, the system will also determine if other four-way vehicles have their work paths destined for the current four-way vehicle's exit. This means the system needs to check if the destination of other four-way vehicles' current tasks coincides with the current four-way vehicle's exit. For example, if another four-way vehicle is being dispatched to that exit to pick up or place goods, then even if it has not yet arrived, that exit should be considered pre-reserved. By checking the destination, multiple four-way vehicles can avoid competing for the same exit resource simultaneously, thus preventing congestion or deadlock.

[0146] Through the aforementioned technical solution, the system can perform multi-dimensional and proactive obstacle avoidance checks before the four-way vehicles exit the elevator. This check not only considers the immediate occupancy of the exit but also the dynamic path planning and final destinations of other four-way vehicles, thus comprehensively assessing potential conflict risks. This significantly improves the safety of four-way vehicles exiting the elevator in complex warehousing environments, effectively preventing collisions and operational interruptions. Simultaneously, through more intelligent path conflict prediction and resource pre-occupancy assessment, the system can more efficiently schedule four-way vehicles, reducing unnecessary waiting time and optimizing the overall smoothness and efficiency of warehousing operations.

[0147] Example 7

[0148] It should be noted that the method also includes:

[0149] If the current hoist is only transporting empty four-way cars, determine the type of scheduling task currently being performed by the hoist;

[0150] If the current scheduling task performed by the hoist is an inbound task, determine whether there are corresponding inbound goods in the corresponding inbound / outbound station.

[0151] If there are corresponding goods to be received at the inbound / outbound station, the inbound operation will continue.

[0152] If there are no corresponding goods to be received at the inbound / outbound platform, the empty four-way vehicle will be controlled to leave the current hoist and wait for subsequent tasks to be assigned.

[0153] Specifically, if the hoist is currently carrying only an empty four-way vehicle, the system will determine the type of scheduling task being performed by the hoist. This step aims to identify a specific system state where the hoist is not carrying any cargo and is only carrying an empty four-way vehicle. In this state, the system needs to further determine the type of scheduling task currently assigned to the hoist to decide on subsequent operations. The determination of the scheduling task type is typically performed by the scheduling system based on a preset scheduling strategy and task queue, for example, by querying the hoist's current task status or receiving task instructions from the host computer.

[0154] If the current scheduling task performed by the hoist is an inbound task, the system will further determine whether there are corresponding inbound goods at the corresponding inbound / outbound platform. When it is confirmed that the hoist is carrying an empty four-way vehicle and its task type is an inbound task, the system will further check whether the inbound / outbound platform associated with the hoist is ready for inbound goods. The key to this determination is that the prerequisite for inbound operation is the existence of goods to be inbound. The system can obtain information on the existence of goods by communicating with sensors, vision recognition systems, or platform management systems at the inbound / outbound platforms.

[0155] If the corresponding goods are available at the inbound / outbound station, the system will continue the inbound operation. If the inbound / outbound station has detected goods to be inbound, the system will continue the operation according to the normal inbound process. This means that an empty four-way vehicle will drive out from the elevator, go to the inbound / outbound station to pick up the goods, and then travel with the elevator to the target storage location for storage. This process ensures that the system can efficiently complete the inbound task when there are goods available for processing.

[0156] If there are no corresponding goods to be received at the inbound / outbound platform, the system will control the empty four-way vehicle to leave the current elevator and wait for subsequent task assignment. When no goods to be received are detected at the inbound / outbound platform, the system will take immediate measures to avoid unnecessary waiting by the empty four-way vehicle and elevator for a long time. Specifically, the dispatching system will send an instruction to the empty four-way vehicle to leave the current elevator. After leaving, the four-way vehicle will enter a standby state, waiting for the dispatching system to assign it new tasks according to the overall operation requirements, such as performing other outbound, relocation, or inbound tasks, thereby improving the utilization rate of the four-way vehicle and elevator.

[0157] It should be noted that the method also includes:

[0158] If the hoist is currently carrying only goods, determine the type of scheduling task being performed by the hoist.

[0159] If the current scheduling task being performed by the hoist is an outbound task, then continue performing the outbound operation;

[0160] If the current hoist is performing a storage task, then the four-way vehicle will be reassigned to perform the storage task.

[0161] Specifically, "Currently, the hoist is only carrying goods" means that sensors on the hoist (such as photoelectric sensors and weight sensors) have detected that the hoist is carrying goods, but no four-way vehicle is detected. Simultaneously, the system scheduling module will confirm this situation based on the hoist's current status record. "Determining the type of scheduling task currently being performed by the hoist" means that the scheduling system queries the type of task based on the scheduling task ID currently associated with the hoist, such as whether it is an outbound task, an inbound task, or a transfer task. This determination forms the basis for subsequent decisions, ensuring that the system can take the correct processing strategy based on the actual situation.

[0162] When the system determines that the elevator only contains goods, and these goods are for outbound tasks, it means that the goods have already been removed from their storage location by a four-way vehicle and placed on the conveyor belt at the elevator, or have been directly transported to the elevator by the four-way vehicle, awaiting transport to the picking station or inbound / outbound station. In this case, "Continue Outbound Operation" means that the elevator will transport the goods to the predetermined outbound destination (e.g., picking station or inbound / outbound station) according to the established outbound process, and complete the subsequent unloading or handover operations. This step ensures the smooth operation of the outbound process and avoids unnecessary stoppages or resource waste.

[0163] When the system determines that there are only goods on the elevator, and these goods are for an inbound task, it usually means that the goods have already entered the elevator via the conveyor at the inbound / outbound platform. However, the four-way vehicle that should have been responsible for transporting the goods from the elevator to the target storage location may not have arrived in time or been assigned due to some reason (such as malfunction, task change, route conflict, etc.). In this case, "reassigning the four-way vehicle to perform the inbound task" means that the scheduling system will select an idle and suitable four-way vehicle based on the current status and location information of the four-way vehicles in the warehousing system, generate a new scheduling instruction for it, and send it to the current elevator level to pick up the inbound goods from the elevator and transport them to the target storage location. This measure effectively solves the potential bottleneck in the inbound process, avoids goods from staying on the elevator for a long time, and ensures the continuity and efficiency of inbound operations.

[0164] Example 8

[0165] A warehouse operation scheduling system based on a hoist and a four-way vehicle includes:

[0166] Elevators, conveyors, four-way vehicles, picking stations, inbound and outbound station processors and memory;

[0167] The conveyor is located at the elevator;

[0168] The picking station and the elevator are set up separately;

[0169] The warehouse entry and exit platforms are directly connected to the elevators;

[0170] The processor and memory are connected via a communication bus:

[0171] The processor is used to call and execute programs stored in memory.

[0172] A memory is used to store a program, which is at least used to execute a warehouse operation scheduling method based on a hoist and a four-way vehicle as described in any of the above embodiments.

[0173] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0174] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means at least two.

[0175] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0176] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0177] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0178] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0179] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0180] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0181] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A warehouse operation scheduling method based on a hoist and a four-way vehicle, characterized in that, The method, applicable to a warehousing system where a conveyor is installed at the elevator but no conveyor is installed at the connection between the elevator and the rack, includes: Receive scheduling tasks from the host computer and determine the type of scheduling task; If the scheduling task is an outbound task, control the four-way vehicle to retrieve the goods from the storage location, and perform access verification on the hoist where the four-way vehicle is about to enter. After the access verification is passed, the four-way vehicle is controlled to drive into the hoist and the destination of the outbound vehicle is determined; If the outbound destination is a picking station that is separate from the elevator, control the four-way vehicle to drive out of the elevator at the corresponding level of the picking station and transport the outbound goods to the picking station; If the destination of the outbound goods is an inbound / outbound platform that is directly connected to the elevator, control the four-way vehicle to place the outbound goods on the conveyor at the elevator, and control the conveyor inside the elevator to deliver the outbound goods to the inbound / outbound platform. After the four-way vehicle places the outbound goods onto the conveyor, it obtains the current outbound task list and determines the departure level of the four-way vehicle based on the priority of the outbound tasks in the current outbound task list. The departure level of the four-way vehicle is determined based on the priority of the outbound tasks in the current outbound task list, including: If there are no outbound tasks to be executed in the current outbound task list, control the four-way vehicle to drive out of the hoist from the current level; If there are pending outbound tasks in the current outbound task list, then sort the pending outbound tasks according to the preset priority rules. If there is no available four-way vehicle at the level corresponding to the highest priority outbound task, the four-way vehicle is controlled to move with the elevator to the level corresponding to the highest priority outbound task and then exit the elevator from that level. If multiple outbound tasks to be executed after sorting have the same priority, then determine whether there are any outbound tasks to be executed in the current layer. If there are outbound tasks to be executed at the current level, control the four-way vehicle to drive out of the hoist from the current level; If there are no outbound tasks to be executed in the current layer, then search for the target layer where there are outbound tasks to be executed but no available four-way vehicles, and control the four-way vehicles to run with the elevator to the target layer and then drive out of the elevator.

2. The method according to claim 1, characterized in that, The method further includes: If the scheduling task is an inbound task, an access verification is performed on the hoist for the four-way vehicle waiting to enter. After the access verification is passed, the four-way vehicle is controlled to drive into the hoist; Control the elevator to travel to the corresponding inbound / outbound platform, and use the conveyor to transport the inbound goods to the elevator; After the four-way vehicle picks up the goods from the elevator, it moves with the elevator to the corresponding level of the target cargo location, and then drives out of the elevator from that level to transport the goods to the target cargo location.

3. The method according to claim 1, characterized in that, The method further includes: If the scheduling task is a warehouse moving task, control the four-way vehicle to pick up the goods at the goods delivery level, and perform access verification on the hoist that the four-way vehicle is about to enter. After the access verification is passed, the four-way vehicle is controlled to drive into the hoist; Control the hoist to run to the corresponding level of the target cargo location, and control the four-way vehicle to drive out of the hoist from that level to transport the goods to the target cargo location.

4. The method according to any one of claims 1-3, characterized in that, The access verification includes: Determine whether the target hoist that the four-way vehicle is about to enter is in an available state; If the target elevator is in an available state, determine whether there is a four-way vehicle or cargo on the target elevator; If there are no four-way vehicles or goods on the target hoist, then check if there is a scheduling task matching the target hoist in the current scheduling task list; If there is no matching scheduling task for the target elevator in the current scheduling task list, the admission verification passes.

5. The method according to claim 1, characterized in that, Before controlling the four-way vehicle to leave the hoist, the method further includes: Obstacle avoidance verification is performed on the exit level of the four-way vehicle; After the obstacle avoidance test is passed, the four-way vehicle is controlled to drive out of the hoist.

6. The method according to claim 5, characterized in that, The obstacle avoidance verification includes: Determine if there are other four-way vehicles parked at the current four-way vehicle's exit, determine if there are other four-way vehicles whose work routes pass through the current four-way vehicle's exit, and determine if there are other four-way vehicles whose work routes have the current four-way vehicle's exit as their destination. If no other four-way vehicles are parked at the exit of the current four-way vehicle, and no other four-way vehicles' work paths pass through the exit of the current four-way vehicle, and no other four-way vehicles' work paths have the exit of the current four-way vehicle as their destination, then the obstacle avoidance check is passed.

7. The method according to claim 1, characterized in that, The method further includes: If the current hoist is only transporting empty four-way cars, determine the type of scheduling task currently being performed by the hoist; If the current scheduling task performed by the hoist is an inbound task, determine whether there are corresponding inbound goods in the corresponding inbound / outbound station. If there are corresponding goods to be received at the inbound / outbound station, the inbound operation will continue. If there are no corresponding goods to be received at the inbound / outbound platform, the empty four-way vehicle is controlled to leave the current hoist and wait for subsequent tasks to be assigned.

8. The method according to claim 1, characterized in that, The method further includes: If the hoist is currently carrying only goods, determine the type of scheduling task being performed by the hoist. If the current scheduling task being performed by the hoist is an outbound task, then continue performing the outbound operation; If the current hoist is performing a storage task, then the four-way vehicle will be reassigned to perform the storage task.

9. A warehouse operation scheduling system based on a hoist and a four-way vehicle, characterized in that, include: Elevators, conveyors, four-way vehicles, picking stations, inbound and outbound station processors and memory; The conveyor is located at the elevator; The picking station is separately installed from the elevator; The warehouse entry / exit platform is directly connected to the elevator. The processor and memory are connected via a communication bus: The processor is used to call and execute the program stored in the memory; The memory is used to store a program, which is at least used to execute the warehouse operation scheduling method based on a hoist and a four-way vehicle as described in any one of claims 1-8.

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