Intelligent forklift collaborative scheduling method and system for warehousing and logistics

Abstract

This invention relates to the field of warehouse forklift scheduling technology, specifically to a smart forklift collaborative scheduling method and system for warehouse logistics. The method includes: responding to an order insertion task, for each forklift, determining the relative waiting time of each order in the forklift's unworked order queue, and determining the cumulative electrical load corresponding to each order based on the forklift's electrical characteristics and the weight of goods in each order in the unworked order queue; constructing two-dimensional coordinate points for the orders using the relative waiting time and cumulative electrical load, generating a no-insertion scheduling sequence for the forklifts based on the order order order order sequence in the unworked order queue, and generating an order insertion postponement scheduling sequence for the forklifts based on the order insertion task and the no-insertion scheduling sequence; determining the comprehensive deviation value between the no-insertion scheduling sequence and the order insertion postponement scheduling sequence for each forklift; identifying the forklift with the smallest comprehensive deviation value as the winning forklift, and assigning an order insertion task to the winning forklift. This invention improves the adaptability of forklift scheduling to existing schedules in emergency order insertion scenarios.

Description

Technical Field

[0001] This invention relates to the field of warehouse forklift scheduling technology, specifically to a smart forklift collaborative scheduling method and system for warehouse logistics. Background Technology

[0002] In warehousing and logistics scenarios, smart forklifts typically execute goods handling tasks sequentially according to a pre-defined schedule. When an urgent order is received, one forklift needs to be selected from multiple online forklifts, and the order is inserted into its task queue, with the selected forklift having priority in execution. Because the length of the unworked order queues, the weight distribution of the ordered goods, and the electrical aging conditions of each forklift vary, the impact of the same urgent order on the subsequent scheduling of different forklifts can differ significantly.

[0003] Existing scheduling methods typically sum the total waiting time increment and total load increment caused by the interrupted order to each forklift's scheduling queue independently, and select the forklift with the lowest overall cost based on the summation result. However, this overall summation-based evaluation method is difficult to accurately reflect the degree of local impact of the interrupted order on specific orders in the scheduling queue, resulting in insufficient accuracy in forklift scheduling and scheduling adaptation. Summary of the Invention

[0004] To address the technical problem of insufficient compatibility between forklift scheduling and existing schedules in emergency order insertion scenarios, the present invention aims to provide a smart forklift collaborative scheduling method and system for warehouse logistics. The specific technical solution adopted is as follows: Firstly, a smart forklift collaborative scheduling method for warehousing logistics is provided. This method includes: responding to an order insertion task, for each forklift, determining the relative waiting time of each order in the forklift's unworked order queue relative to the current order's end time, and determining the cumulative electrical load corresponding to each order based on the forklift's electrical characteristics and the weight of goods in each order in the unworked order queue; constructing two-dimensional coordinate points for the orders using the relative waiting time and cumulative electrical load, generating a no-insertion scheduling sequence for the forklift based on the order order order sequence in the unworked order queue, and generating an insertion postponement scheduling sequence for the forklift based on the order insertion task and the no-insertion scheduling sequence; the first element in both the no-insertion scheduling sequence and the insertion postponement scheduling sequence is the two-dimensional coordinate origin; determining the comprehensive deviation value between the no-insertion scheduling sequence and the insertion postponement scheduling sequence for each forklift; identifying the forklift with the smallest comprehensive deviation value as the winning forklift, and assigning an order insertion task to the winning forklift.

[0005] In one possible design, determining the relative waiting time of each order in the forklift's unstarted order queue relative to the current order's end time includes: when the forklift is idle, determining the current time as the current order's end time; when the forklift is running, determining the estimated completion time of the currently executed order as the current order's end time; traversing the forklift's task memory, extracting all scheduled orders in the unstarted state to form the forklift's unstarted order queue; for each order in the unstarted order queue, determining the time difference between the original estimated start time and the current order's end time, and applying a non-negative constraint to the time difference to obtain the order's relative waiting time.

[0006] In one possible design, determining the cumulative electrical load corresponding to each order includes: for each order in the unstarted order queue, multiplying the order's cargo weight by its electrical characteristics to determine the order's electrical load; and, according to the order ...

[0007] In one possible design, a forklift order postponement schedule is generated based on the order insertion task and the no-order-insertion schedule sequence. This includes: setting the relative waiting time of the order insertion task to zero; determining the order insertion electrical load increment of the order insertion task by multiplying the cargo weight and electrical characteristics of the order insertion task; constructing a mutation point based on the relative waiting time of the order insertion task and the order insertion electrical load increment; updating the two-dimensional coordinate points corresponding to each order in the unstarted order queue; and generating the forklift order postponement schedule sequence based on the two-dimensional coordinate origin, the mutation point, and the updated two-dimensional coordinate points of each order, where the mutation point is the second element in the order insertion postponement schedule sequence.

[0008] In one possible design, updating the two-dimensional coordinate points corresponding to each order in the queue of unstarted orders includes: for each order in the queue of unstarted orders, adding the estimated time of the insertion task to the relative waiting time corresponding to the order to obtain the updated relative waiting time of the order; adding the increment of the electrical load of the insertion task to the cumulative electrical load corresponding to the order to obtain the updated cumulative electrical load of the order; and obtaining the updated two-dimensional coordinate points of the order based on the updated relative waiting time and the updated cumulative electrical load.

[0009] In one possible design, determining the comprehensive deviation value between the no-interruption scheduling sequence and the interrupted-interruption scheduling sequence for each forklift includes: normalizing the no-interruption scheduling sequence and the interrupted-interruption scheduling sequence respectively to obtain the normalized no-interruption scheduling sequence and the normalized interrupted-interruption scheduling sequence; and determining the discrete Fréchet distance between the normalized no-interruption scheduling sequence and the normalized interrupted-interruption scheduling sequence as the comprehensive deviation value.

[0010] In one possible design, the above method also includes marking the forklift as undeliverable when there are orders with a relative waiting time of zero for the forklift.

[0011] In one possible design, electrical features are used to characterize the current fluctuation of the motor when the forklift carries a unit weight of goods. Obtaining electrical features includes: in response to an order insertion task, obtaining the electrical features of each forklift in the local cache according to the identifier of each forklift; updating the electrical features each time the forklift performs a carrying task; and overwriting the electrical features in the local cache with the updated electrical features.

[0012] In one possible design, updating the electrical characteristics includes: during the acceleration period after the forklift carries the goods, collecting the instantaneous discharge current value of the forklift motor at a preset sampling frequency to obtain a current sequence; determining the variance of the current sequence, and determining the ratio of the variance to the weight of the goods currently carried by the forklift as the updated electrical characteristic.

[0013] Secondly, a smart forklift collaborative scheduling system for warehousing and logistics is provided, comprising: a task response unit, used to respond to order insertion tasks; for each forklift, determining the relative waiting time of each order in the forklift's unworked order queue relative to the end time of the current order, and determining the cumulative electrical load corresponding to each order based on the forklift's electrical characteristics and the weight of goods in each order in the unworked order queue; a sequence construction unit, used to construct two-dimensional coordinate points of orders using relative waiting time and cumulative electrical load, generating a no-order-insertion scheduling sequence for forklifts based on the order order order order order sequence in the unworked order queue, and generating an order insertion postponement scheduling sequence for forklifts based on the order insertion task and the no-order-insertion scheduling sequence; the first element in both the no-order-insertion scheduling sequence and the order insertion postponement scheduling sequence is the two-dimensional coordinate origin; a deviation determination unit, used to determine the comprehensive deviation value between the no-order-insertion scheduling sequence and the order insertion postponement scheduling sequence for each forklift; and a task dispatch unit, used to determine the forklift with the smallest comprehensive deviation value as the winning forklift, and dispatch order insertion tasks to the winning forklift.

[0014] The present invention has the following beneficial effects: In the intelligent forklift collaborative scheduling method and system for warehousing and logistics provided by this invention, the impact of order insertion tasks on each forklift scheduling queue is transformed into morphological differences between two two-dimensional scheduling sequences with relative waiting time and cumulative electrical load as coordinate axes. These morphological differences are quantified into a single comprehensive deviation value, which serves as the decision-making basis for selecting the winning forklift. By measuring the deviation from the overall topological shape of the two-dimensional sequence, the maximum local impact caused by the superposition of time delays and electrical loads at the same order node in the scheduling queue can be accurately captured, rather than using the global average to mask the extreme damage state of individual orders. Forklift scheduling based on this comprehensive deviation value ensures that urgent order insertion tasks are assigned to the forklifts in the scheduling queue that bear the least local impact cost of the insertion task, avoiding the assignment of insertion tasks to equipment with immediate execution orders or under heavy load criticality. This reduces the risk of order default and motor overload caused by order insertion, and improves the accuracy of the adaptation between emergency task scheduling and existing scheduling. Attached Figure Description

[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating a smart forklift collaborative scheduling method for warehousing and logistics, provided as an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a smart forklift collaborative scheduling system for warehousing and logistics, provided as an embodiment of the present invention. Detailed Implementation

[0017] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a smart forklift collaborative scheduling method and system for warehousing and logistics proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0018] In embodiments of the present invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0019] In the description of this invention, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" and "more than one" refer to two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0021] The following description, in conjunction with the accompanying drawings, details a specific scheme for a smart forklift collaborative scheduling method and system for warehousing and logistics provided by this invention.

[0022] Please see Figure 1 The diagram illustrates a flowchart of a smart forklift collaborative scheduling method for warehousing and logistics provided by an embodiment of the present invention, including the following steps S101-S104.

[0023] S101. In response to the order insertion task, for each forklift, determine the relative waiting time of each order in the forklift's unstarted order queue relative to the end time of the current order, and determine the cumulative electrical load corresponding to each order based on the electrical characteristics of the forklift and the weight of the goods in each order in the unstarted order queue.

[0024] As one possible implementation, upon receiving an order insertion task, the current time is recorded, and the current order end time for each forklift is determined.

[0025] Optionally, determining the current order completion time for the forklift needs to be differentiated based on the forklift's operating status. Specifically, when the forklift is idle, the current time when the order is received is determined as the current order completion time; when the forklift is running, i.e., there is a task being executed, the estimated completion time of the currently executing order is obtained and determined as the current order completion time.

[0026] For each forklift, after determining the end time of the current order for the forklift, the task memory of the forklift is traversed to extract all scheduled orders that are in an inactive state, forming an inactive order queue. This inactive order queue excludes the currently executing tasks and only contains subsequent scheduled orders that have not yet been started.

[0027] For each order in the queue of orders not yet started, calculate the relative waiting time for the order. The relative waiting time represents the length of time that the order needs to wait from the current order's end time to its originally scheduled start time.

[0028] Optionally, when calculating the relative waiting time, the difference between the original estimated start time of the order and the current order end time is calculated. Considering that some orders may have their original estimated start time earlier than the current order end time due to delays in preceding tasks, meaning the difference might be negative, and negative values ​​do not physically justify waiting time, a non-negativity constraint is needed on the difference result. Specifically, if the original estimated start time is later than the current order end time, the time difference between the original estimated start time and the current order end time is used as the relative waiting time for that order; if the original estimated start time is earlier than or equal to the current order end time, indicating that the order is in a state where it should be executed immediately, the relative waiting time is set to zero. This non-negativity constraint ensures that the relative waiting time is always a non-negative value.

[0029] In some embodiments, if a forklift has orders with a relative waiting time of zero, it means that the forklift has a backlog of orders to be processed and is not suitable for handling the order insertion task. Therefore, the forklift is marked as undeliverable and will no longer be processed.

[0030] Optionally, if all forklifts have orders with a relative waiting time of zero, remove the undeliverable status mark from all forklifts and re-include all forklifts in the calculation and comparison.

[0031] Furthermore, for each order in the unstarted order queue for each forklift (excluding forklifts marked as undeliverable), the product of the order's cargo weight and electrical characteristics is determined as the order's electrical load.

[0032] The electrical characteristics of a forklift can be determined based on the current sequence collected during the acceleration phase after the forklift carries goods, as well as the weight of the goods carried. For example, the ratio of the variance of the current sequence to the weight of the goods carried can be used to determine the value of the electrical characteristic. Since the electrical characteristic reflects the degree of current fluctuation when the forklift carries a unit weight of goods, multiplying the electrical characteristic by the actual weight of each order allows the current fluctuation index in the unit weight dimension to be extended into a separate load assessment of the electrical dimension for that order.

[0033] Optionally, the electrical characteristics are updated each time the forklift performs a carrying task. The updated electrical characteristics overwrite the electrical characteristics in the local cache and establish a mapping relationship between the electrical characteristics and the forklift's identifier, so that in response to the insertion task, the corresponding electrical characteristics can be called based on the identifier of each forklift.

[0034] In some embodiments, the electrical feature update process includes: when the forklift is about to perform an order task, the forklift's local motherboard reads the weight of the goods recorded in the order, continuously monitors the forklift's load-bearing action, and when the forklift completes its load-bearing action, further reads feedback data from the chassis speed sensor. When the feedback data indicates that the forklift has begun to accelerate, the local motherboard continuously reads the instantaneous discharge current value of the motor from the battery management system at a preset sampling frequency to form a current sequence. The variance of the current sequence is then determined, and the ratio of this variance to the weight of the goods currently being carried by the forklift is used as the updated electrical feature, overwriting the previously stored electrical feature. A larger electrical feature value indicates a lower overload resistance of the forklift motor.

[0035] Optionally, the preset sampling frequency is 10Hz. If the actual acceleration time reaches the upper limit of the preset statistical time (e.g., 5 seconds), all sampling data within that time period will be acquired. If the forklift enters the constant speed or deceleration phase in advance, resulting in the actual acceleration time being shorter than the upper limit of the preset statistical time period, the data collected within that actual acceleration time period will be extracted to form a current sequence.

[0036] Understandably, the reason for using the ratio of the variance of the current sequence to the weight of the currently loaded goods to update the electrical characteristics is that the coils inside the forklift motor will age and wear after long-term use, resulting in a significant increase in the amplitude of current fluctuation when the load is heavy and accelerated. Furthermore, by dividing by the weight of the currently loaded goods, the interference of the weight difference of the goods on the current fluctuation can be eliminated, and a standardized index that only reflects the degree of motor aging can be obtained.

[0037] Finally, because the load on the motor of a forklift continuously accumulates when it performs multiple tasks in the queue, the execution cost of a subsequent order depends not only on the load of that order itself, but also on the cumulative load on the motor caused by all the scheduled orders before it. Therefore, according to the order order order sequence in the unstarted order queue, the order electrical load of the order is added to the order electrical load of all the orders in the unstarted order queue that precede it, to obtain the cumulative electrical load of that order.

[0038] For example, the queue of unstarted orders contains The order, for the first ( ) orders, At that time, its cumulative electrical load is the electrical load of the first order; At that time, its cumulative electrical load is the sum of the electrical loads of the first and second orders; At that time, its cumulative electrical load was the first The sum of the electrical loads of each order.

[0039] In some embodiments, upon receiving an order insertion task, the location of the goods corresponding to the task is parsed. Based on this location, forklifts from the online forklifts that have a preset association between their current operating area and the area where the goods are located are selected as candidate forklifts to participate in this scheduling. This preset association includes the forklift's current operating area being the same as or adjacent to the area where the goods are located. Only candidate forklifts participate in subsequent sequence construction and comprehensive deviation value calculation; other forklifts are not included in this scheduling scope.

[0040] In some embodiments, optionally, in response to an order insertion task, the operating status of each forklift in the candidate forklifts is traversed to determine whether there is an idle forklift. An idle forklift refers to one that currently has no tasks being executed and whose queue of unstarted orders is empty. If an idle forklift exists, the order insertion task is directly dispatched to that idle forklift. Upon receiving the order insertion task, the idle forklift immediately executes it as the current task, without performing subsequent scheduling sequence generation and comprehensive deviation value calculation.

[0041] S102. Using the relative waiting time and cumulative electrical load to form the two-dimensional coordinate points of the order, generate the forklift's no-insertion scheduling sequence based on the order ...

[0042] In both the no-interruption scheduling sequence and the interrupted-interruption scheduling sequence, the first element is the origin of a two-dimensional coordinate system.

[0043] As one possible implementation, a two-dimensional scheduling coordinate system is first constructed, with relative waiting time as the horizontal axis and cumulative electrical load as the vertical axis. For each order in the queue of unstarted orders, its relative waiting time and cumulative electrical load are combined to form a two-dimensional coordinate point in the scheduling coordinate system. The horizontal axis of this two-dimensional coordinate point reflects the time that the order still needs to wait from the current moment, and the vertical axis reflects the total accumulated electrical load of the forklift motor after the order is completed. Together, they constitute the state representation of the order in the scheduling queue.

[0044] When constructing a no-insertion scheduling sequence, the origin of the two-dimensional coordinate system is used as the first element. Subsequently, according to the order order in the queue of unstarted orders, the two-dimensional coordinate points corresponding to each order are added to the sequence sequentially, generating a no-insertion scheduling sequence. This no-insertion scheduling sequence starts from the origin of the two-dimensional coordinate system and ends at the two-dimensional coordinate point of the last order in the queue of unstarted orders, forming a two-dimensional trajectory that reflects the forklift's execution of subsequent orders according to the original schedule under the condition of no order insertion interference. The shape of this trajectory is determined by the relative waiting time of each order and the cumulative electrical load, intuitively showing the progressive relationship between waiting time and electrical load in the original schedule.

[0045] Furthermore, based on the order insertion task and the no-order insertion scheduling sequence, an order insertion postponement scheduling sequence for forklifts is generated.

[0046] It should be noted that the reason for constructing an order insertion delay schedule based on the order insertion-free schedule sequence is that after an order insertion task is inserted into the current schedule queue, all subsequent scheduled orders will be subject to cumulative interference in both the time and load dimensions. In order to accurately characterize the geometric form of this interference, it is necessary to construct a delay sequence containing the characteristics of the mutation point, so as to form a quantifiable topological comparison with the order insertion-free schedule sequence.

[0047] Generating the order insertion and postponement scheduling sequence requires first determining the two-dimensional coordinate point of the order insertion task itself, i.e., the mutation point. The mutation point is the second element in the order insertion and postponement scheduling sequence, adjacent to the origin of the two-dimensional coordinate system. This position causes the two sequences to produce a clear bifurcation in their geometric trajectories at the beginning. That is, the non-order insertion scheduling sequence connects directly to the first regular order point from the origin, while the order insertion and postponement scheduling sequence first experiences the offset of the mutation point after the origin.

[0048] Optionally, the x-axis of the mutation point represents the relative waiting time of the order insertion task. Since the relative waiting time of each order is based on the end time of the current order as a unified reference, and the order insertion task starts execution immediately after the current order ends without additional waiting, the relative waiting time of the order insertion task is set to zero. The y-axis of the mutation point represents the order insertion electrical load increment, which is determined by the product of the weight of the goods in the order insertion task and its electrical characteristics, representing the electrical load increment caused to the forklift motor by executing the order insertion task. Since the x-axis of the mutation point is zero, it is located in the positive direction of the y-axis in the two-dimensional scheduling coordinate system, sharing the x-axis with the origin of the two-dimensional coordinate system. This causes the order insertion delay scheduling sequence to form a vertical jump from the origin along the y-axis in the initial segment, thus forming a topological bifurcation dominated by the electrical load dimension with the non-order insertion scheduling sequence in the initial segment.

[0049] After identifying the mutation point, the two-dimensional coordinate points corresponding to each order in the queue of orders that have not yet started are updated.

[0050] Optionally, for each order in the queue of orders not yet started, the estimated time of the insertion task is added to the original relative waiting time of the order to obtain the updated relative waiting time of the order. The estimated time of the insertion task is added because its execution time, after being inserted at the head of the queue, will postpone the estimated start time of all subsequent orders. Simultaneously, the original cumulative electrical load of the order is added to the incremental electrical load of the insertion task to obtain the updated cumulative electrical load of the order. The incremental electrical load of the insertion task is added because the load of the goods carried by the insertion task will be added to the cumulative load of the forklift motor, and the motor will already bear the additional load pressure brought by the insertion task when subsequent orders are executed. Finally, based on the updated relative waiting time and the updated cumulative electrical load of the order, the updated two-dimensional coordinates of the order are obtained.

[0051] When constructing the order postponement schedule sequence, the origin of the two-dimensional coordinate system is used as the first element of the sequence, and the coordinates of the abrupt change point are used as the second element. Subsequently, according to the order order in the queue of unstarted orders, the updated two-dimensional coordinates of each order are added to the sequence in sequence to generate the order postponement schedule sequence.

[0052] Through the above sequence construction process, the no-insertion scheduling sequence and the insertion-delayed scheduling sequence form a structural difference in the initial segment. That is, the no-insertion scheduling sequence starts from the two-dimensional coordinate origin and is directly connected to the coordinate point of the first regular order, while the insertion-delayed scheduling sequence first undergoes a vertical jump along the vertical axis of the abrupt change point after the two-dimensional coordinate origin, and then connects to the coordinate points of each order after time delay and electrical load superposition correction.

[0053] S103. Determine the comprehensive deviation between the no-interruption scheduling sequence and the interrupted-order postponement scheduling sequence for each forklift.

[0054] It should be noted that, since the relative waiting time often ranges from thousands of seconds to only tens of units, the horizontal axis (relative waiting time) and vertical axis (cumulative electrical load) of the two sets of sequences differ significantly in magnitude. If the comparison is performed directly under the original dimensions, the larger time dimension will completely dominate the calculation results of the topology matching algorithm, causing the smaller load dimension to be masked and lose its representational meaning. Therefore, the sequences without order insertion and those with delayed order insertion are first normalized, and the coordinate values ​​of the horizontal and vertical dimensions are independently mapped to the same preset numerical range to eliminate the interference of the difference in dimensions on the subsequent topology comparison.

[0055] In some embodiments, when normalizing the no-interruption scheduling sequence and the interrupted-interruption scheduling sequence, the following steps are taken: First, all two-dimensional coordinate points in the no-interruption scheduling sequence and the interrupted-interruption scheduling sequence of all forklifts participating in this scheduling are obtained. The global maximum and minimum values ​​of the horizontal coordinate, as well as the global maximum and minimum values ​​of the vertical coordinate, are then extracted. Subsequently, the horizontal and vertical coordinates of each coordinate point in both sequences are normalized.

[0056] For any x-coordinate, the formula for calculating the normalized x-coordinate is as follows:

[0057] For any ordinate, the formula for calculating the normalized ordinate is as follows:

[0058] In the above formula, For the first The normalized x-coordinate corresponding to each order For the first The x-coordinate to be normalized for each order The global maximum value of the x-axis. The global minimum value of the x-axis. It is a very small positive number, for example, an empirical value of 0.0001, used to prevent the denominator of the normalization formula from being zero when the global maximum and global minimum values ​​of the horizontal or vertical coordinates are the same, thus ensuring the numerical stability of the calculation. For the first The normalized ordinate of each order For the first The ordinate to be normalized for each order The global maximum value of the ordinate. This represents the global minimum value of the ordinate.

[0059] After normalization, the absolute numerical differences between the x-coordinate and y-coordinate are eliminated, and all coordinate points in both sets of sequences are mapped to the same preset numerical range. Then, based on the calculated normalized x-coordinate and y-coordinate of each coordinate point, the coordinates in the non-interrupted scheduling sequence and the inserted / delayed scheduling sequence are replaced to obtain the normalized non-interrupted scheduling sequence and the normalized inserted / delayed scheduling sequence.

[0060] Furthermore, the discrete Friesian distance between the normalized non-interrupted scheduling sequence and the normalized interrupted delayed scheduling sequence is determined as the comprehensive deviation value.

[0061] It should be noted that the traditional point-by-point distance averaging method will spread the extremely timed-out local bad data to other orders in the long sequence, thus masking the specific node in the scheduling queue that is most severely impacted. In contrast, the discrete Fraser distance does not calculate the average difference, but specifically searches for the minimum value of the maximum spatial distance that must be traversed to maintain the synchronous traversal of two geometric trajectories, and can accurately locate the position where the topological deformation between two sequences is most severe.

[0062] In this scheme, both the no-interruption scheduling sequence and the interrupted-order-delayed scheduling sequence start from the origin of a two-dimensional coordinate system. The interrupted-order-delayed scheduling sequence inserts a sudden change point immediately after the origin, consisting of the relative waiting time of the interrupted order and the increase in electrical load. This transforms the smooth transition from the origin to the coordinate point of the first unstarted order in the no-interruption scheduling sequence into a broken path in the interrupted-order-delayed scheduling sequence, where the origin jumps through the sudden change point and then connects to the coordinate point of the first unstarted order after the time delay and the increase in electrical load. This creates a significant geometric inflection point region in the initial segment. The maximum separation position searched by the discrete Fraser distance occurs in this initial bifurcation region, rather than at the order nodes in the later part of the queue that have undergone rigid translation.

[0063] Therefore, the comprehensive deviation value accurately captures the single-point impact of the emergency order insertion task on the first adjacent unstarted order. This impact is the concentrated manifestation of the core destructive force of this emergency order insertion on the overall schedule. As subsequent orders accumulate, the deviation amounts at each order tend to be consistent. At this point, the magnitude of the comprehensive deviation value is mainly determined by the degree of topological change in the initial segment, allowing the discrete Fréchet distance to effectively distinguish the different initial change amplitudes caused by the differences in electrical characteristics and unstarted order queues of each forklift. The larger the comprehensive deviation value, the more severe the combined time and load impact on the order immediately adjacent to the emergency order insertion task in the forklift's schedule queue, meaning the higher the single-point destructive force of the emergency order insertion task on the forklift.

[0064] S104. The forklift with the smallest comprehensive deviation value is identified as the winning forklift, and an additional order is assigned to the winning forklift.

[0065] It should be noted that the smaller the overall deviation value, the lower the damage cost to the order node most severely impacted in the forklift scheduling queue. In other words, assigning the interrupted order to the forklift with the smallest overall deviation value has the least disruptive effect on the overall scheduling order.

[0066] In some embodiments, after the winning forklift receives the dispatched order insertion task, it forcibly inserts the data packet of the order insertion task into the first position of its own unstarted order queue. After completing the currently executing order, the drive chassis immediately proceeds to the transportation operation to perform the order insertion task.

[0067] In some embodiments, after inserting the order insertion task at the top of the queue of unstarted orders for the winning forklift, an overdue risk assessment is performed on each of the orders in the queue that are postponed due to the order insertion task.

[0068] For each order in the queue of orders not yet started, the estimated delivery time is calculated by adding the order's relative waiting time and estimated delivery time to the current order's end time determined by the order insertion task. This estimated delivery time represents the amount of time the order's delivery is forced to be delayed due to the order insertion task being inserted at the head of the queue. The estimated delivery time of the order is compared with the required latest delivery deadline. If the estimated delivery time is later than the specified latest delivery deadline, the order is determined to be an overdue risk order.

[0069] If an overdue risk order is identified, the overdue risk order is removed from the queue of unstarted orders and treated as a new insertion task. The scheme described in steps S101-S104 above is used to select the winning forklift from among the other forklifts (excluding the winning forklift) to execute the overdue risk order.

[0070] Understandably, in the intelligent forklift collaborative scheduling method for warehousing and logistics provided in this embodiment of the invention, the impact of order insertion tasks on each forklift scheduling queue is transformed into morphological differences between two two-dimensional scheduling sequences with relative waiting time and cumulative electrical load as coordinate axes. These morphological differences are quantified into a single comprehensive deviation value, which serves as the decision-making basis for selecting the winning forklift. By measuring the deviation from the overall topological shape of the two-dimensional sequence, the maximum local impact caused by the superposition of time delays and electrical loads at the same order node in the scheduling queue can be accurately captured, rather than using the global average to mask the extreme damage state of individual orders. Forklift scheduling based on this comprehensive deviation value ensures that urgent order insertion tasks are assigned to the forklift in the scheduling queue that bears the least local impact cost of the insertion task, avoiding assigning insertion tasks to equipment with immediate execution orders or in a critical state of heavy load. This reduces the risk of order default and motor overload caused by order insertion, and improves the accuracy of the adaptation between emergency task scheduling and existing scheduling.

[0071] Please see Figure 2 The diagram illustrates a structural schematic of a smart forklift collaborative scheduling system for warehousing and logistics, as provided in an embodiment of the present invention. Figure 2 As shown, the intelligent forklift collaborative scheduling system 20 for warehousing and logistics includes a task response unit 21, a sequence construction unit 22, a deviation determination unit 23, and a task dispatch unit 24.

[0072] The task response unit 21 is used to respond to the order insertion task. For each forklift, it determines the relative waiting time of each order in the forklift's unstarted order queue relative to the end time of the current order, and determines the cumulative electrical load corresponding to each order based on the electrical characteristics of the forklift and the weight of the goods in each order in the unstarted order queue.

[0073] The sequence construction unit 22 is used to form two-dimensional coordinate points of orders based on relative waiting time and cumulative electrical load, generate a forklift no-insertion scheduling sequence based on the order ...

[0074] Deviation determination unit 23 is used to determine the comprehensive deviation value between the no-interruption scheduling sequence and the interrupted-order postponement scheduling sequence of each forklift.

[0075] Task dispatching unit 24 is used to identify the forklift with the smallest comprehensive deviation value as the winning forklift and dispatch additional tasks to the winning forklift.

[0076] It should be noted that the intelligent forklift collaborative scheduling system 20 for warehousing and logistics provided in the above embodiments is only an example of the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer equipment can be divided into different functional modules to complete all or part of the functions described above.

[0077] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0078] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A smart forklift collaborative scheduling method for warehousing and logistics, characterized in that, The method includes: In response to the order insertion task, for each forklift, the relative waiting time of each order in the forklift's unstarted order queue relative to the end time of the current order is determined, and the cumulative electrical load corresponding to each order is determined based on the electrical characteristics of the forklift and the weight of the goods in each order in the unstarted order queue; The order is represented by two-dimensional coordinates based on the relative waiting time and cumulative electrical load. A non-interruption scheduling sequence for the forklift is generated based on the order order order order order order order queue. A delay scheduling sequence for the forklift is generated based on the interruption task and the non-interruption scheduling sequence. The first element in both the non-interruption scheduling sequence and the delay scheduling sequence is the two-dimensional coordinate origin. Determine the overall deviation value between the non-interruption scheduling sequence and the interruption postponement scheduling sequence for each forklift; The forklift with the smallest overall deviation value is identified as the winning forklift, and the insertion task is assigned to the winning forklift.

2. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 1, characterized in that, Determine the relative waiting time of each order in the forklift's unworked order queue relative to the current order's completion time, including: When the forklift is idle, the current time is determined as the end time of the current order; When the forklift is in operation, the estimated completion time of the currently executed order is determined as the end time of the current order; Traverse the task memory of the forklift, extract all scheduled orders that are in an inactive state, and form an inactive order queue for the forklift; For each order in the queue of orders that have not yet started, determine the time difference between the original scheduled start time of the order and the current end time of the order, and apply a non-negative constraint to the time difference to obtain the relative waiting time of the order.

3. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 1, characterized in that, Determine the cumulative electrical load corresponding to each order, including: For each order in the queue of unstarted orders, the product of the weight of the goods in the order and the electrical characteristics is determined as the order's electrical load; According to the order order in the unstarted order queue, the order electrical load of the order is added to the order electrical load of all orders in the unstarted order queue that precede the order to obtain the cumulative electrical load of the order.

4. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 1, characterized in that, Based on the order insertion task and the no-order insertion scheduling sequence, generate the order insertion postponement scheduling sequence for the forklift, including: The relative waiting time for the inserted task is set to zero; The product of the cargo weight of the order insertion task and the electrical characteristics is determined as the order insertion electrical load increment of the order insertion task; The relative waiting time of the inserted task and the increase in electrical load constitute the mutation point; Update the two-dimensional coordinates of each order in the queue of unstarted orders; Based on the two-dimensional coordinate origin, the mutation point, and the updated two-dimensional coordinate points of each order, a delay schedule for the forklift order is generated, wherein the mutation point is the second element in the delay schedule.

5. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 4, characterized in that, Updating the two-dimensional coordinates of each order in the queue of unstarted orders includes: For each order in the queue of orders that have not yet started, the estimated time of the insertion task is added to the relative waiting time corresponding to the order to obtain the updated relative waiting time of the order; The updated cumulative electrical load of the order is obtained by adding the electrical load increment of the inserted order to the cumulative electrical load corresponding to the order. Based on the relative waiting time after the order update and the updated cumulative electrical load, the two-dimensional coordinate points of the order after the update are obtained.

6. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 1, characterized in that, Determine the overall deviation between the non-interruption scheduling sequence and the interruption / delay scheduling sequence for each forklift, including: The non-interrupted scheduling sequence and the interrupted scheduling sequence are normalized to obtain the normalized non-interrupted scheduling sequence and the normalized interrupted scheduling sequence. The discrete Fréchet distance between the normalized non-interruption scheduling sequence and the normalized insertion postponement scheduling sequence is determined as the comprehensive deviation value.

7. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 2, characterized in that, The method further includes: If there are orders with a relative waiting time of zero for the forklift, mark the forklift as undeliverable.

8. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 1, characterized in that, The electrical characteristics are used to characterize the current fluctuation of the motor when the forklift is carrying a unit weight of goods. Obtaining the electrical characteristics includes: In response to the order insertion task, the electrical characteristics of each forklift are obtained from the local cache based on the identifier of each forklift. The electrical characteristics are updated each time the forklift performs a carrying task, and the updated electrical characteristics overwrite the electrical characteristics in the local cache.

9. The intelligent forklift collaborative scheduling method for warehousing and logistics according to claim 8, characterized in that, Updating the electrical characteristics includes: During the acceleration period after the forklift carries the goods, the instantaneous discharge current value of the forklift motor is collected at a preset sampling frequency to obtain a current sequence; The variance of the current sequence is determined, and the ratio of the variance to the weight of the goods currently being carried by the forklift is used as the updated electrical characteristic.

10. A smart forklift collaborative scheduling system for warehousing and logistics, characterized in that, include: The task response unit is used to respond to the order insertion task. For each forklift, it determines the relative waiting time of each order in the forklift's unstarted order queue relative to the end time of the current order, and determines the cumulative electrical load corresponding to each order based on the electrical characteristics of the forklift and the weight of the goods in each order in the unstarted order queue. A sequence construction unit is used to construct two-dimensional coordinate points for orders based on relative waiting time and cumulative electrical load, generate a no-insertion scheduling sequence for the forklift based on the order order order order order order order queue, and generate an insertion delay scheduling sequence for the forklift based on the insertion task and the no-insertion scheduling sequence; the first element in both the no-insertion scheduling sequence and the insertion delay scheduling sequence is the two-dimensional coordinate origin; The deviation determination unit is used to determine the comprehensive deviation value between the no-interruption scheduling sequence and the interrupted-order postponement scheduling sequence for each forklift; The task dispatching unit is used to identify the forklift with the smallest comprehensive deviation value as the winning forklift and dispatch the insertion task to the winning forklift.

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