Carrier dispatching method, apparatus and system, and electronic device and storage medium

Abstract

Provided in the embodiments of the present application are a carrier dispatching method, apparatus and system, and an electronic device and a storage medium. The method comprises: acquiring the number of empty storage positions of each storage area in a warehouse; on the basis of a magnitude relationship between the number of empty storage positions of each storage area and a preset threshold value for the number of empty storage positions, determining a source area in which empty carriers need to be transferred; determining whether the number of empty carriers in the source area is higher than a lower limit of the preset threshold value; if the number of empty carriers in the source area is higher than the lower limit of the preset threshold value, on the basis of the numbers of empty carriers and the numbers of empty storage positions of other storage areas, determining whether there is a first target area among the other storage areas that meets a first carrier supplementing condition; and if there is such first target area, controlling an intelligent transport vehicle to carry the empty carriers from the source area to the first target area. Since an electronic device takes into comprehensive consideration the number of empty storage positions and the number of empty carriers when dispatching carriers, it can be ensured that there are enough empty storage positions and empty carriers in an area to support the circulation of goods, thereby avoiding the situation in which there is no site and no carrier to support the circulation of goods, and thus ensuring the smoothness of the circulation of goods.

Description

Vehicle scheduling method, device, system, electronic device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 24, 2023, with application number 202310914331.5, and invention name “A vehicle scheduling method, device, system, electronic device and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent logistics technology, and in particular to a vehicle scheduling method, device, system, electronic device and storage medium. Background Art

[0003] In an automated logistics handling system implemented using intelligent transport vehicles, once goods are loaded onto a carrier, the intelligent transport vehicle can move the carrier between areas such as the entrance, storage, and work areas, thereby achieving the flow of goods. Each area is pre-planned with multiple storage spaces for fully loaded carriers and empty carriers.

[0004] Because full and empty carriers share storage space in a shared area, reserving some empty carriers in the area also means occupying some of the empty storage spaces in the area. When more empty carriers are reserved, while this can ensure that the immediate cargo handling needs of the area are met, it will also result in fewer empty storage spaces, making it impossible for full carriers to enter the area smoothly, leading to logistics congestion. When fewer empty carriers are reserved, the number of empty storage spaces in the area will increase. At this time, although full carriers can enter the area smoothly, when there is an immediate cargo handling demand in the area, the small number of empty carriers cannot meet this cargo handling demand, which will also lead to logistics congestion.

[0005] Therefore, it is necessary to provide a reasonable vehicle scheduling method to ensure the smooth flow of goods.

[0006] Summary of the Invention

[0007] The purpose of the embodiments of the present application is to provide a vehicle scheduling method, device, system, electronic device, and storage medium to avoid situations where there is no space or vehicle to support the flow of goods, thereby ensuring the smooth flow of goods. The specific technical solutions are as follows:

[0008] In a first aspect, an embodiment of the present application provides a vehicle scheduling method, the method comprising:

[0009] Obtaining the number of empty storage locations in each storage area in the warehouse, wherein the storage area includes a plurality of storage locations, each of which is used to store a carrier;

[0010] Determining, from each storage area, a storage area to which empty vehicles need to be transferred as a source area based on a relationship between the number of empty storage spaces in each storage area and a corresponding preset threshold number of empty storage spaces;

[0011] Determining whether the number of empty vehicles in the source area is higher than a preset lower threshold corresponding to the source area;

[0012] If the number of empty vehicles in the source area is higher than a preset lower threshold corresponding to the source area, determining whether there is a first target area meeting the first vehicle replenishment condition in the other storage areas based on the number of empty vehicles and the number of empty storage locations in the other storage areas except the source area;

[0013] If the first target area exists, control the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area.

[0014] Optionally, determining a storage area to be transferred from each storage area as a source area based on a relationship between the number of empty storage spaces in each storage area and a corresponding preset threshold number of empty storage spaces includes:

[0015] For each storage area, calculating a first ratio between the number of empty storage spaces in the storage area and a corresponding preset threshold value of the number of empty storage spaces;

[0016] using a storage area corresponding to a minimum value of the first ratio as a first candidate area;

[0017] Determining whether the number of vacant storage spaces in the first candidate area is lower than a preset vacant storage space threshold corresponding to the first candidate area;

[0018] If the number of vacant storage spaces in the first candidate region is lower than a preset vacant storage space number threshold corresponding to the first candidate region, the first candidate region is determined as the source region.

[0019] Optionally, the determining, based on the number of empty carriers and the number of empty storage locations in storage areas other than the source area, whether there is a first target area that meets the first carrier replenishment condition in the other storage areas includes:

[0020] Determine whether there is a second candidate area in other storage areas other than the source area, in which the number of empty vehicles is lower than the corresponding preset lower threshold and the number of empty storage locations is higher than the corresponding preset empty storage location number threshold;

[0021] If the second alternative area exists, for each second alternative area, calculate the second ratio between the number of empty storage spaces in the second alternative area and the corresponding preset threshold value of the number of empty storage spaces; take the second alternative area corresponding to the maximum value of the second ratio as the first target area; or, for each second alternative area, calculate the third ratio between the number of empty vehicles in the second alternative area and the corresponding lower limit of the preset threshold; take the second alternative area corresponding to the minimum value of the third ratio as the first target area.

[0022] Optionally, the method further includes:

[0023] If the first target area does not exist, determining whether the number of empty storage spaces in an entrance area is greater than a preset empty storage space threshold corresponding to the entrance area, wherein the entrance area is an area where goods enter the warehouse;

[0024] If the number of empty storage spaces in the entrance area is higher than a preset empty storage space threshold corresponding to the entrance area, the entrance area is determined as a second target area for receiving empty vehicles, and the intelligent transport vehicle is controlled to transport the empty vehicles from the source area to the second target area;

[0025] If the number of empty storage spaces in the entrance area is not higher than a preset empty storage space threshold corresponding to the entrance area, determining whether there is a third target area in the other storage area that meets the second vehicle replenishment condition based on the number of empty storage spaces in the other storage areas;

[0026] If the third target area exists, the intelligent transport vehicle is controlled to transport the empty carrier from the source area to the third target area.

[0027] Optionally, the determining, based on the number of empty storage spaces in the other storage areas, whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition includes:

[0028] For the storage area with the largest number of empty storage locations among the other storage areas, determining whether the number of empty storage locations in the storage area is higher than a preset empty storage location number threshold corresponding to the storage area;

[0029] If the number of empty storage spaces in the storage area with the largest number of empty storage spaces is higher than the preset empty storage space number threshold value corresponding to the storage area, the storage area with the largest number of empty storage spaces is determined as the third target area for receiving empty vehicles.

[0030] Optionally, there are multiple entrance areas;

[0031] The determining whether the number of empty storage spaces in the entrance area is higher than a preset empty storage space number threshold corresponding to the entrance area includes:

[0032] For each entrance area, calculating a fourth ratio between the number of empty storage spaces in the entrance area and a corresponding preset threshold value of the number of empty storage spaces;

[0033] It is determined whether the number of empty storage spaces in the entrance area corresponding to the maximum value of the fourth ratio is higher than a preset threshold value of the number of empty storage spaces corresponding to the entrance area.

[0034] Optionally, before determining whether the number of vacant storage spaces in the entrance area corresponding to the maximum value in the fourth ratio is higher than a preset vacant storage space number threshold corresponding to the entrance area, the method further includes:

[0035] For each entrance area, calculating a fifth ratio between the number of empty vehicles in the entrance area and the corresponding preset lower threshold;

[0036] When there is a fifth ratio less than 1, determining whether the number of empty storage spaces in the entrance area corresponding to the minimum value of the fifth ratio is higher than a preset threshold value of the number of empty storage spaces corresponding to the entrance area;

[0037] When there is no fifth ratio less than 1, the step of determining whether the number of empty storage spaces in the entrance area corresponding to the maximum value in the fourth ratio is higher than the preset empty storage space number threshold corresponding to the entrance area is performed.

[0038] Optionally, the method further includes:

[0039] If the number of empty storage spaces in the first candidate area is not less than a preset empty storage space threshold corresponding to the first candidate area, determining whether the entrance area meets a third vehicle replenishment condition based on the number of empty vehicles and the number of empty storage spaces in the entrance area;

[0040] If the entrance area satisfies the third vehicle replenishment condition, determining, for the storage area having the largest ratio of the number of empty vehicles to the corresponding preset lower threshold, whether the number of empty vehicles in the storage area is higher than the preset lower threshold corresponding to the storage area;

[0041] If the number of empty vehicles in the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest is higher than the preset threshold lower limit corresponding to the storage area, control the intelligent transport vehicle to transport empty vehicles from the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest to the entrance area.

[0042] Optionally, there are multiple entrance areas;

[0043] The determining whether the entrance area satisfies the third vehicle supplement condition includes:

[0044] Traversing the plurality of said entrance areas in a preset priority order;

[0045] Each time an entrance area is traversed, it is determined whether the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space threshold;

[0046] If the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold, and the number of empty storage spaces is higher than the corresponding preset empty storage space threshold, it is determined that the entrance area meets the third vehicle replenishment condition;

[0047] If not, continue to traverse the next entrance area and return to the step of traversing each entrance area to determine whether the number of empty vehicles in the entrance area is lower than the corresponding preset threshold lower limit, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold.

[0048] Optionally, after controlling the intelligent transport vehicle to transport the empty vehicles from the storage area where the ratio of the number of empty vehicles to the corresponding preset lower threshold value is the largest to the entrance area, the method further includes:

[0049] Determining whether the number of empty vehicles in the entrance area has not reached a corresponding preset upper threshold value, and whether the number of empty storage spaces in the entrance area is higher than a corresponding preset empty storage space threshold value;

[0050] If the number of empty vehicles in the entrance area does not reach the corresponding preset upper threshold value, and the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold value, return to the storage area with the largest ratio between the number of empty vehicles and the corresponding preset lower threshold value, and determine whether the number of empty vehicles in the storage area is higher than the corresponding preset lower threshold value of the storage area.

[0051] Optionally, after controlling the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, the method further includes:

[0052] Return to the step of obtaining the number of empty storage locations in each storage area in the warehouse until the number of empty storage locations in each storage area is not less than the preset empty storage location number threshold corresponding to the storage area, or the number of returns reaches the preset number of times.

[0053] Optionally, the other storage area is a storage area that stores vehicles of the same type as the vehicle stored in the source area.

[0054] In a second aspect, an embodiment of the present application provides a vehicle scheduling device, the device comprising:

[0055] An empty storage location number acquisition module is used to acquire the number of empty storage locations in each storage area in the warehouse, wherein the storage area includes a plurality of storage locations, and the storage locations are used to store vehicles;

[0056] a source region determining module configured to determine, from each storage region, a storage region to which empty vehicles need to be transferred as a source region based on a relationship between the number of empty storage spaces in each storage region and a corresponding preset threshold number of empty storage spaces;

[0057] A first judgment module is used to judge whether the number of empty vehicles in the source area is higher than a preset threshold lower limit corresponding to the source area;

[0058] a second determination module configured to determine, when the number of empty vehicles in the source area is higher than a preset lower threshold corresponding to the source area, based on the number of empty vehicles and the number of empty storage spaces in other storage areas other than the source area, whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition;

[0059] The control module is used to control the intelligent transport vehicle to transport the empty carrier from the source area to the first target area when the first target area exists.

[0060] Optionally, the source area determination module includes:

[0061] A first ratio calculation unit is configured to calculate, for each storage area, a first ratio between the number of empty storage spaces in the storage area and a corresponding preset empty storage space threshold;

[0062] a first candidate region determining unit, configured to select a storage region corresponding to a minimum value among the first ratios as a first candidate region;

[0063] a first determining unit, configured to determine whether the number of vacant storage spaces in the first candidate area is lower than a preset vacant storage space threshold corresponding to the first candidate area;

[0064] A source region determining unit is configured to determine the first candidate region as a source region when the judgment result of the first judgment unit is yes.

[0065] Optionally, the second judgment module includes:

[0066] a second candidate area determination unit, configured to determine whether there is a second candidate area in other storage areas other than the source area, in which the number of empty vehicles is lower than a corresponding preset lower threshold value and the number of empty storage locations is higher than a corresponding preset empty storage location number threshold value;

[0067] a second ratio calculation unit configured to calculate, for each second candidate area, a second ratio between the number of vacant storage spaces in the second candidate area and a corresponding preset vacant storage space threshold value when the second candidate area exists;

[0068] a third ratio calculation unit, configured to calculate, for each second candidate area, a third ratio between the number of empty vehicles in the second candidate area and a corresponding preset lower threshold value when the second candidate area exists;

[0069] The first target area determination unit is configured to use the second candidate area corresponding to the maximum value of the second ratio as the first target area, or use the second candidate area corresponding to the minimum value of the third ratio as the first target area.

[0070] Optionally, the device further includes:

[0071] a third judgment module, configured to judge, when the first target area does not exist, whether the number of empty storage spaces in an entrance area is higher than a preset empty storage space number threshold corresponding to the entrance area, wherein the entrance area is an area where goods enter the warehouse;

[0072] a second target area determination module, configured to determine the entrance area as a second target area for receiving an empty vehicle when the determination result of the third determination module is yes;

[0073] a third target area determination module configured to determine, when the determination result of the third determination module is negative, whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition based on the number of empty storage spaces in the other storage areas;

[0074] The control module is further used to control the intelligent transport vehicle to transport the empty carrier from the source area to the second target area, or to control the intelligent transport vehicle to transport the empty carrier from the source area to the third target area.

[0075] Optionally, the third target area determination module includes:

[0076] a second determining unit, configured to determine, for a storage area having the largest number of empty storage locations among the other storage areas, whether the number of empty storage locations in the storage area is higher than a preset empty storage location number threshold corresponding to the storage area;

[0077] The third target area determination unit is configured to determine the storage area with the largest number of empty storage spaces as a third target area for receiving empty vehicles when the determination result of the second determination unit is yes.

[0078] Optionally, there are multiple entrance areas;

[0079] The third judgment module includes:

[0080] a fourth ratio calculation unit, configured to calculate, for each entrance area, a fourth ratio between the number of empty storage spaces in the entrance area and a corresponding preset threshold value of the number of empty storage spaces;

[0081] a fifth ratio calculation unit, configured to calculate, for each entrance area, a fifth ratio between the number of empty vehicles in the entrance area and a corresponding preset lower threshold value;

[0082] The third judgment unit is used to judge whether the number of empty storage locations in the entrance area corresponding to the maximum value of the fourth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area, or, when there is a fifth ratio less than 1, to judge whether the number of empty storage locations in the entrance area corresponding to the minimum value of the fifth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area; when there is no fifth ratio less than 1, to judge whether the number of empty storage locations in the entrance area corresponding to the maximum value of the fourth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area.

[0083] Optionally, the device further includes:

[0084] a fourth judgment module, configured to judge whether the entrance area satisfies a third vehicle replenishment condition based on the number of empty vehicles and the number of empty storage spaces in the entrance area when the judgment result of the first judgment unit is negative;

[0085] a fifth determination module configured to, when the determination result of the fourth determination module is yes, determine, for the storage area having the largest ratio of the number of empty vehicles to the corresponding preset lower threshold, whether the number of empty vehicles in the storage area is higher than the preset lower threshold corresponding to the storage area;

[0086] The control module is used to control the intelligent transport vehicle to transport the empty carriers from the storage area where the ratio of the number of empty carriers to the corresponding preset threshold lower limit is the largest to the entrance area when the judgment result of the fifth judgment module is yes.

[0087] Optionally, there are multiple entrance areas;

[0088] The fourth judgment module includes:

[0089] a traversal unit, configured to traverse the plurality of entry areas in a preset priority order;

[0090] A fourth judgment unit is configured to judge, each time an entrance area is traversed, whether the number of empty vehicles in the entrance area is lower than a corresponding preset lower threshold value, and whether the number of empty storage spaces in the entrance area is higher than a corresponding preset empty storage space threshold value;

[0091] a supplement determination unit, configured to determine that the entrance area satisfies a third vehicle supplement condition when the determination result of the fourth determination unit is yes;

[0092] The returning unit is configured to continue traversing the next entry area and trigger the execution of the fourth judging unit when the judgment result of the fourth judging unit is negative.

[0093] Optionally, the device further includes:

[0094] a sixth judgment module, configured to judge, after the control module controls the intelligent transport vehicle to transport an empty vehicle from the storage area having the largest ratio between the number of empty vehicles and the corresponding lower limit of the preset threshold value to the entrance area, whether the number of empty vehicles in the entrance area has not reached the corresponding upper limit of the preset threshold value, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset threshold value of the number of empty storage spaces;

[0095] The first return module is configured to trigger execution of the fifth judgment module when the judgment result of the sixth judgment module is yes.

[0096] Optionally, the device further includes:

[0097] The second return module is used to trigger the execution of the empty storage space quantity acquisition module after the control module controls the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, until the number of empty storage spaces in each storage area is not less than the preset empty storage space quantity threshold corresponding to the storage area, or the number of returns reaches the preset number.

[0098] Optionally, the other storage area is a storage area that stores vehicles of the same type as the vehicle stored in the source area.

[0099] In a third aspect, an embodiment of the present application provides a vehicle scheduling system, the system comprising: a control device and an intelligent transport vehicle, wherein:

[0100] The control device is used to obtain the number of empty storage locations in each storage area in the warehouse; determine the storage area to which the empty vehicles need to be transferred from each storage area as the source area according to the size relationship between the number of empty storage locations in each storage area and the corresponding preset threshold value of the number of empty storage locations; judge whether the number of empty vehicles in the source area is higher than the lower limit of the preset threshold value corresponding to the source area; if the number of empty vehicles in the source area is higher than the lower limit of the preset threshold value corresponding to the source area, judge whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition based on the number of empty vehicles and the number of empty storage locations in other storage areas except the source area; if the first target area exists, send a control instruction to the intelligent transport vehicle, wherein the storage area includes a plurality of storage locations, and the storage locations are used to store vehicles;

[0101] The intelligent transport vehicle is configured to transport an empty vehicle from the source area to the first target area upon receiving the control instruction.

[0102] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0103] Memory for storing computer programs;

[0104] The processor is configured to implement any of the methods described in the first aspect above when executing a program stored in the memory.

[0105] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the methods described in the first aspect above.

[0106] In a sixth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when run on a computer, enables the computer to execute any of the methods described in the first aspect above.

[0107] Beneficial effects of the embodiments of the present application:

[0108] In the solution provided by the embodiment of the present application, an electronic device can obtain the number of empty storage locations in each storage area in a warehouse, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles; based on the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, a storage area to which empty vehicles need to be transferred is determined from each storage area as a source area; it is determined whether the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area; if the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas other than the source area, it is determined whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition; if the first target area exists, the intelligent transport vehicle is controlled to transport the empty vehicle from the source area to the first target area. Since the electronic device can determine the source area to which the empty vehicle needs to be transferred and the first target area to which the empty vehicle needs to be replenished based on the empty storage locations and empty vehicle conditions of each storage area, and then control the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, the transfer of empty vehicles in the source area and the replenishment of empty vehicles in the first target area are completed, so that the empty vehicles in the warehouse are evenly distributed. In addition, when dispatching vehicles, the electronic equipment comprehensively considers the number of empty storage spaces and the number of empty vehicles, so it can ensure that the storage area has both sufficient empty storage spaces and sufficient empty vehicles to support the flow of goods, avoiding the situation where there is no space or vehicles to support the flow of goods, and ensuring the smooth flow of goods.

[0109] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0111] FIG1 is a flow chart of a vehicle scheduling method provided in an embodiment of the present application;

[0112] FIG2 is a flow chart of a method for determining a source region based on the embodiment shown in FIG1 ;

[0113] FIG3 is a flow chart of a method for determining a first target area based on the embodiment shown in FIG1 ;

[0114] FIG4 is a flow chart of a method for determining the second target area and the third target area based on the embodiment shown in FIG1 ;

[0115] FIG5 is a specific flow chart of a third target area determination method based on the embodiment shown in FIG4 ;

[0116] FIG6 is a specific flow chart of a method for determining a second target area based on the embodiment shown in FIG4 ;

[0117] FIG7 is another specific flow chart of the second target area determination method based on the embodiment shown in FIG4 ;

[0118] FIG8 is a flow chart of a method for replenishing empty vehicles in the entrance area based on the embodiment shown in FIG2 ;

[0119] FIG9 is a specific flow chart of a method for replenishing empty vehicles in the entrance area based on the embodiment shown in FIG8 ;

[0120] FIG10 is another specific flow chart of the method for replenishing empty vehicles in the entrance area based on the embodiment shown in FIG8 ;

[0121] FIG11 is a schematic diagram of a warehouse based on the embodiment shown in FIG1 ;

[0122] FIG12 is a specific flow chart of the vehicle scheduling method based on the embodiment shown in FIG1 ;

[0123] FIG13 is a schematic structural diagram of a vehicle scheduling device provided in an embodiment of the present application;

[0124] FIG14 is a schematic structural diagram of a vehicle dispatching system provided in an embodiment of the present application;

[0125] FIG15 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0126] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0127] In order to avoid the situation where there is no venue and no vehicle to support the flow of goods and to ensure the smooth flow of goods, an embodiment of the present application provides a vehicle scheduling method, device, system, electronic device, computer-readable storage medium and computer program product. The following first introduces a vehicle scheduling method provided by an embodiment of the present application.

[0128] The vehicle scheduling method provided in the embodiments of the present application can be applied to any electronic device that needs to control the scheduling of a vehicle, for example, a terminal device such as a computer, tablet computer, and mobile phone, or a server, etc., without specific limitation here. For the sake of clarity, it is hereinafter referred to as an electronic device.

[0129] As shown in FIG1 , a vehicle scheduling method includes:

[0130] S101, obtaining the number of empty storage locations in each storage area in the warehouse.

[0131] The storage area includes a plurality of storage locations, and the storage locations are used to store carriers.

[0132] S102, based on the relationship between the number of empty storage locations in each storage area and the corresponding preset threshold value of the number of empty storage locations, determine a storage area from each storage area to which empty vehicles need to be transferred as a source area.

[0133] S103: Determine whether the number of empty vehicles in the source area is higher than a preset lower threshold corresponding to the source area.

[0134] S104: If the number of empty vehicles in the source area is higher than the preset lower threshold corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas except the source area, determine whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition.

[0135] S105: If the first target area exists, control the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area.

[0136] In the solution provided by the embodiment of the present application, an electronic device can obtain the number of empty storage locations in each storage area in a warehouse, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles; based on the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, a storage area to which empty vehicles need to be transferred is determined from each storage area as a source area; it is determined whether the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area; if the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas other than the source area, it is determined whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition; if the first target area exists, the intelligent transport vehicle is controlled to transport the empty vehicle from the source area to the first target area. Since the electronic device can determine the source area to which the empty vehicle needs to be transferred and the first target area to which the empty vehicle needs to be replenished based on the empty storage locations and empty vehicle conditions of each storage area, and then control the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, the transfer of empty vehicles in the source area and the replenishment of empty vehicles in the first target area are completed, so that the empty vehicles in the warehouse are evenly distributed. In addition, when dispatching vehicles, the electronic equipment comprehensively considers the number of empty storage spaces and the number of empty vehicles, so it can ensure that the storage area has both sufficient empty storage spaces and sufficient empty vehicles to support the flow of goods, avoiding the situation where there is no space or vehicles to support the flow of goods, and ensuring the smooth flow of goods.

[0137] Each storage area has multiple pre-planned storage spaces for vehicles. Empty storage spaces are those that don't contain any vehicles and aren't currently being used by vehicles. Sufficient empty storage spaces within a storage area ensure that fully loaded vehicles can enter the area. If there aren't enough empty spaces within a storage area, fully loaded vehicles won't be able to enter due to a lack of available space, leading to logistics bottlenecks.

[0138] Therefore, the electronic device can obtain the number of empty storage locations in each storage area in the warehouse, determine whether the number of empty storage locations in the storage area meets the requirements, and determine whether it is necessary to transfer the empty carriers in the storage area, thereby increasing the number of empty storage locations in the storage area.

[0139] In one embodiment, a preset time interval may be set in the electronic device, so that the electronic device can regularly obtain the number of empty storage locations in each storage area in the warehouse according to the preset time interval.

[0140] For example, a corresponding preset time interval can be set according to the flow of goods in the warehouse. Specifically, when the flow of goods is large, a shorter preset time interval can be set, so that the electronic device can frequently obtain the number of empty storage spaces in each storage area in the warehouse to frequently dispatch vehicles, thereby meeting the needs of goods flow. When the flow of goods is small, a longer preset time interval can be set, so that the electronic device can reduce the number of times the vehicle is dispatched as much as possible while meeting the needs of goods flow, thereby saving scheduling resources.

[0141] In another embodiment, the electronic device may also store carrier handling records, so that the electronic device can obtain the number of empty storage spaces in each storage area in the warehouse based on the carrier handling records when it detects that a preset number of carrier handling records have been generated since the last carrier scheduling.

[0142] For example, the preset quantity is 20. The electronic device performs vehicle dispatch at 10:00:00 on May 4, 2023, to evenly distribute the empty vehicles in the warehouse. At 10:20:00 on May 4, 2023, the electronic device detects that 20 more vehicle handling records have been generated due to the flow of goods since the last vehicle dispatch. At this time, because the vehicle handling processes recorded in these 20 vehicle handling records may lead to an uneven distribution of vehicles in various areas, which may lead to some areas having no space or vehicles to support the flow of goods. Therefore, the electronic device can obtain the number of empty storage spaces in each storage area in the warehouse to perform vehicle dispatch again.

[0143] When obtaining the number of vacant storage locations in each storage area in the warehouse, the electronic device may obtain an image of each storage area in the warehouse and perform target recognition on the image to obtain the number of vacant storage locations in each storage area. Alternatively, the electronic device may record the initial number of vacant storage locations in each storage area in the warehouse and then update the number of vacant storage locations in each storage area based on stored carrier handling records to obtain the number of vacant storage locations in each storage area. This is not specifically limited herein.

[0144] Because the various storage areas in the warehouse are different in terms of factors such as the goods stored, the types of vehicles to be parked, the area of ​​the area, and the distance from the work area or entrance area, when each corresponding storage area has sufficient empty storage spaces, the number of empty storage spaces corresponding to each storage area is also different. Therefore, a preset empty storage space number threshold corresponding to each storage area can be set in advance for each storage area.

[0145] In this way, after the electronic device obtains the number of empty storage locations in each storage area in the warehouse, it can determine whether the storage area needs to transfer empty vehicles to increase the number of empty storage locations in the area based on the relationship between the number of empty storage locations in the storage area and the corresponding preset empty storage location threshold. If necessary, the storage area can be used as the source area for vehicle scheduling.

[0146] In one embodiment, when the electronic device determines that there are multiple storage areas that need to transfer empty carriers based on the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, the electronic device can select a storage area as the source area from the multiple storage areas that need to transfer empty carriers according to preset rules.

[0147] For example, the priority of each storage area can be set in advance. When there are multiple storage areas that need to transfer empty carriers, the electronic device can select a storage area as the source area from the multiple storage areas that need to transfer empty carriers according to the preset priority order.

[0148] For another example, the electronic device can calculate in real time the ratio or difference between the number of empty storage locations in each storage area and the corresponding preset threshold value of the number of empty storage locations, and select a storage area as the source area from the multiple storage areas where empty carriers need to be transferred based on the order of the ratio or difference.

[0149] Although transferring empty carriers in the storage area will increase the number of empty storage spaces in the storage area, thereby ensuring that full carriers can enter the storage area smoothly, it will also lead to a decrease in the number of empty carriers in the storage area. In this way, when there is an immediate demand for cargo handling in the storage area, a small number of empty carriers may not be able to meet the cargo handling demand. At this time, there will be a problem of no carriers supporting the flow of cargo, and logistics congestion will also occur.

[0150] Therefore, after determining the storage area in each storage area to which empty carriers need to be transferred, the electronic device can further determine whether the number of empty carriers in the storage area to which empty carriers need to be transferred is higher than the preset lower threshold corresponding to the storage area.

[0151] Among them, similar to the setting method of the above-mentioned threshold value of the number of empty storage spaces, because the goods stored in each storage area in the warehouse, the type of vehicles to be parked, the area of ​​the area, the distance from the work area or the entrance area and other factors are different, the corresponding number of empty vehicles required by each storage area when an immediate demand for cargo handling occurs is also different. Therefore, it is also possible to set the preset threshold lower limit corresponding to each storage area in advance, that is, to set the minimum number of empty vehicles that each storage area needs to retain.

[0152] If the number of empty carriers is not higher than the preset lower threshold, it means that there are relatively few empty carriers in the storage area. At this time, transferring empty carriers in the storage area will further reduce the number of empty carriers in the storage area, which may lead to a problem of no carriers supporting the flow of goods. In other words, in this case, it is impossible to increase the number of empty storage locations in the storage area by transferring empty carriers in the storage area. At the same time, if both empty storage locations and empty carriers in the storage area are relatively small, it means that there are many full carriers loaded with goods in the storage area. In this case, a warning message of goods overflow can be output to prompt staff to deal with it.

[0153] If the number of empty carriers is higher than the preset lower threshold, it indicates that there are fewer empty storage locations and more empty carriers in the storage area. In this case, the number of empty storage locations in the storage area can be increased by transferring empty carriers from the storage area. In this case, the electronic device can further determine whether there is a first target area that meets the first carrier replenishment condition in other storage areas other than the source area based on the number of empty carriers and the number of empty storage locations in the other storage areas. In other words, it can determine whether there is a storage area in the other storage areas that can receive the empty carriers transferred from the source area.

[0154] If there is a first target area, then because the source area is the area where empty vehicles need to be transferred, and the first target area is the area where empty vehicles need to be replenished, the electronic device can send control instructions to the intelligent transport vehicle to enable the intelligent transport vehicle to transport empty vehicles from the source area to the first target area.

[0155] In one embodiment, the electronic device may send a control instruction to an intelligent transport vehicle to enable the intelligent transport vehicle to transport an empty carrier from a source area to a first target area.

[0156] In another embodiment, the electronic device can further determine a first number of empty vehicles that need to be transferred from the source area, and determine a second number of empty vehicles that can be received in the first target area, and then send control instructions to multiple intelligent transport vehicles based on the relationship between the first number and the second number, so that the multiple intelligent transport vehicles can transport multiple empty vehicles from the source area to the first target area.

[0157] For example, when the first number is not greater than the second number, the electronic device can send control instructions to the first number of intelligent transport vehicles so that the first number of intelligent transport vehicles transport the first number of empty vehicles from the source area to the first target area. When the first number is greater than the second number, the electronic device can send control instructions to the second number of intelligent transport vehicles so that the second number of intelligent transport vehicles transport the second number of empty vehicles from the source area to the first target area.

[0158] In one embodiment, when the electronic device determines that there are multiple storage areas in other storage areas that meet the first carrier replenishment condition based on the number of empty carriers and the number of empty storage locations in other storage areas, the electronic device can select a storage area from the multiple storage areas that meet the first carrier replenishment condition as the first target area according to a preset rule.

[0159] For example, the priority of each storage area can be set in advance. When there are multiple storage areas that meet the first vehicle replenishment condition, the electronic device can select a storage area as the first target area from the multiple storage areas that meet the first vehicle replenishment condition according to the preset priority order.

[0160] For another example, the electronic device can calculate in real time the ratio or difference between the number of empty storage spaces in each storage area and the corresponding preset threshold value of the number of empty storage spaces, and select a storage area from the multiple storage areas that meet the first vehicle replenishment condition as the first target area based on the order of the size of the ratio or difference.

[0161] After controlling the intelligent transport vehicle to move the empty carrier from the source area to the first target area, the electronic device can return to the step of obtaining the number of empty storage locations in each storage area in the warehouse, and repeat the vehicle scheduling method until the number of empty storage locations in each storage area is not less than the preset empty storage location number threshold corresponding to the storage area, or the number of returns reaches a preset number of times.

[0162] In the embodiment of the present application, the electronic device can determine the source area where the empty carriers need to be transferred and the first target area where the empty carriers need to be replenished based on the empty storage locations and empty carriers in each storage area, and then control the intelligent transport vehicle to transport the empty carriers from the source area to the first target area. This not only completes the transfer of the empty carriers in the source area, but also completes the replenishment of the empty carriers in the first target area, so that the empty carriers in the warehouse are evenly distributed. In addition, when dispatching the carriers, the electronic device comprehensively considers the number of empty storage locations and the number of empty carriers, so it can ensure that the storage area has enough empty storage locations and enough empty carriers to support the flow of goods, avoiding the situation where there is no space or no carriers to support the flow of goods, and ensuring the smooth flow of goods.

[0163] As an implementation of an embodiment of the present application, as shown in FIG2 , based on the relationship between the number of empty storage spaces in each storage area and the corresponding preset empty storage space threshold, the storage area to which the empty carriers need to be transferred is determined from each storage area. The source area may include:

[0164] S201 : For each storage area, calculate a first ratio between the number of empty storage locations in the storage area and a corresponding preset empty storage location threshold.

[0165] There may be multiple storage areas in the warehouse where empty vehicles need to be transferred. If vehicle scheduling is performed on multiple storage areas at the same time, on the one hand, there may not be a sufficient number of intelligent transport vehicles to perform the vehicle scheduling task. On the other hand, the implementation of the solution is difficult and requires a large amount of calculation. For example, when determining the first target area for receiving empty vehicles, it is necessary to consider the situation where the first target area receives empty vehicles from multiple source areas at the same time.

[0166] Therefore, the electronic device can first determine the compliance status of the empty storage spaces in each storage area based on the size relationship between the number of empty storage spaces in each storage area and the corresponding preset empty storage space number threshold, that is, determine whether the actual number of empty storage spaces in each storage area meets the number of empty storage spaces required for the storage area, and then determine the storage area to which empty vehicles need to be transferred first based on the compliance status of the empty storage spaces in each storage area, and then perform vehicle scheduling for the storage area first, and then repeat the steps of determining the storage area to which empty vehicles need to be transferred first, and perform vehicle scheduling for other storage areas.

[0167] However, when the preset empty storage location number thresholds corresponding to each storage area are different, the difference between the number of empty storage locations in each storage area and the corresponding preset empty storage location number thresholds cannot intuitively reflect the compliance status of the empty storage locations in each storage area.

[0168] For example, the number of empty storage locations in the first storage area is 9, and the preset empty storage location threshold is 10; the number of empty storage locations in the second storage area is 4, and the preset empty storage location threshold is 5. The difference between the number of empty storage locations and the corresponding preset empty storage location threshold in the first and second storage areas is 1. However, in fact, the empty locations in the first storage area have already met 90% of the preset empty storage location threshold, while the empty locations in the second storage area have only met 80% of the preset empty storage location threshold. At this time, compared with the first storage area, the second storage area needs to give priority to supplementing and transferring empty carriers to increase the storage area of ​​empty locations. However, this cannot be reflected through the difference between the number of empty storage locations in each storage area and the corresponding preset empty storage location threshold.

[0169] Therefore, in order to intuitively reflect the compliance status of the empty storage locations in each storage area, the electronic device can calculate, for each storage area, a first ratio between the number of empty storage locations in the storage area and the corresponding preset empty storage location number threshold, that is, use the ratio between the number of empty storage locations in the storage area and the preset empty storage location number threshold as a unified indicator to measure the compliance status of the empty storage locations in each storage area.

[0170] S202: Use a storage area corresponding to a minimum value in the first ratio as a first candidate area.

[0171] Because the smaller the first ratio of the storage area, the worse the compliance of the empty storage spaces in the storage area, and the larger the first ratio, the better the compliance of the empty storage spaces in the storage area, so after the electronic device determines the first ratio between the number of empty storage spaces in each storage area and the corresponding preset empty storage space number threshold, it can use the storage area corresponding to the minimum value in the first ratio as the first alternative area, that is, determine the storage area as the storage area that may need to transfer empty carriers first.

[0172] S203: Determine whether the number of vacant storage spaces in the first candidate area is lower than a preset vacant storage space threshold corresponding to the first candidate area.

[0173] Although the first ratio between the number of empty storage locations in the first candidate area and the corresponding preset empty storage location threshold is the smallest, it does not necessarily mean that empty carriers must be transferred from the first candidate area. For example, the first ratios for storage areas A, B, and C are 1.1, 1.2, and 1.3, respectively. Although the first ratio for storage area A is the smallest, it is still greater than 1. This means that the number of empty storage locations in storage area A is greater than the preset empty storage location threshold for storage area A. At this point, the number of empty storage locations in storage area A meets the standard, and there is no need to transfer empty carriers from storage area A to increase its empty storage location.

[0174] Therefore, after determining the first candidate area, the electronic device may compare the number of vacant storage locations in the first candidate area with a preset vacant storage location threshold corresponding to the first candidate area to determine whether the number of vacant storage locations in the first candidate area is lower than the preset vacant storage location threshold corresponding to the first candidate area. Alternatively, the electronic device may determine whether the first ratio of the first candidate area is less than 1 to determine whether the number of vacant storage locations in the first candidate area is lower than the preset vacant storage location threshold corresponding to the first candidate area. This is not specifically limited herein.

[0175] S204: If the number of vacant storage spaces in the first candidate region is lower than a preset vacant storage space threshold corresponding to the first candidate region, determine the first candidate region as a source region.

[0176] If the number of empty storage locations in the first alternative area is lower than the preset empty storage location threshold corresponding to the first alternative area, it means that there are fewer empty storage locations in the storage area and empty vehicles need to be transferred to increase the number of empty storage locations in the area. Therefore, the electronic device can use the storage area as a source area for vehicle scheduling.

[0177] If the number of empty storage locations in the first candidate area is not lower than the preset empty storage location threshold corresponding to the first candidate area, it means that there are many empty storage locations in the storage area and there is no need to transfer empty carriers to increase the number of empty storage locations in the area.

[0178] In an embodiment of the present application, the electronic device can use a unified indicator, which is the ratio between the number of empty storage spaces in a storage area and a preset threshold value of the number of empty storage spaces, to measure the compliance of the empty storage spaces in each storage area, so that the compliance of the empty storage spaces in each storage area can be intuitively compared, and then the storage area with the worst compliance of the empty storage spaces can be selected from each storage area as the source area for vehicle scheduling.

[0179] As an implementation of an embodiment of the present application, as shown in FIG3 , the above-mentioned determination of whether there is a first target area in the other storage areas that meets the first carrier replenishment condition based on the number of empty carriers and the number of empty storage locations in the other storage areas other than the source area may include:

[0180] S301, determining whether there is a second candidate area in other storage areas except the source area, where the number of empty vehicles is lower than the corresponding preset lower threshold value and the number of empty storage locations is higher than the corresponding preset empty storage location number threshold value.

[0181] When the number of empty carriers in a storage area is lower than the corresponding preset threshold value, it means that there are fewer empty carriers in the storage area and empty carriers need to be transported from other areas for replenishment. When the number of empty storage locations in a storage area is higher than the corresponding preset empty storage location number threshold, it means that there are more empty storage locations in the storage area and empty carriers transported from other areas can be received.

[0182] Therefore, when the number of empty vehicles in a storage area is lower than the corresponding preset lower threshold value, and the number of empty storage locations is higher than the corresponding preset empty storage location threshold value, when empty vehicles in other areas are transported to this storage area, this storage area can just realize the replenishment of its own empty vehicles, and its own empty storage locations can also support the replenishment of empty vehicles. In other words, this storage area is an ideal target area for receiving empty vehicles transferred from the source area.

[0183] Therefore, when the electronic device selects the first target area from other storage areas other than the source area, it can first determine whether there is a storage area in each other area where the number of empty vehicles is lower than the corresponding preset threshold lower limit and the number of empty storage locations is higher than the corresponding preset empty storage location number threshold, that is, determine whether there is a storage area that needs to be replenished with empty vehicles and can be replenished with empty vehicles. If so, the storage area can be used as the second alternative area.

[0184] If there is no second candidate area in storage areas other than the source area where the number of empty vehicles is below the corresponding preset lower threshold and the number of empty storage spaces is above the corresponding preset empty storage space threshold, a target area for receiving empty vehicles transferred from the source area may be selected from the entry area, or the selection criteria may be lowered to reselect a target area from storage areas other than the source area. The methods of selecting a target area from the entry area and reselecting a target area from other storage areas by lowering the selection criteria will be described in detail in subsequent embodiments and are not further elaborated here.

[0185] S302, if the second alternative area exists, for each second alternative area, calculate the second ratio between the number of empty storage spaces in the second alternative area and the corresponding preset threshold value of the number of empty storage spaces; use the second alternative area corresponding to the maximum value of the second ratio as the first target area; or, for each second alternative area, calculate the third ratio between the number of empty vehicles in the second alternative area and the corresponding lower limit of the preset threshold; use the second alternative area corresponding to the minimum value of the third ratio as the first target area.

[0186] In addition to the source area, there may be multiple storage areas in other storage areas where the number of empty vehicles is lower than the corresponding preset threshold lower limit, and the number of empty storage spaces is higher than the corresponding preset empty storage space threshold, that is, there are multiple second alternative areas that can receive the empty vehicles transferred from the source area. On this basis, the electronic device can further select a storage area that is more suitable for receiving the empty vehicles transferred from the source area from the multiple second alternative areas according to different preset area selection rules, and use it as the first target area.

[0187] In one embodiment, the electronic device can calculate, for each second alternative area, a second ratio between the number of empty storage locations in the second alternative area and the corresponding preset threshold value of the number of empty storage locations, that is, calculate the compliance status of the empty storage locations in each second alternative area. When the second ratio is larger, it means that the number of empty storage locations in the second alternative area corresponding to the second ratio is greater than the preset threshold value of the number of empty storage locations corresponding to the second alternative area, that is, the compliance status of the empty storage locations in the second alternative area is better. Therefore, the electronic device can use the second alternative area corresponding to the maximum value in the second ratio as the first target area.

[0188] In another embodiment, the electronic device can calculate, for each second alternative area, a third ratio between the number of empty vehicles in the second alternative area and the corresponding preset lower threshold value, that is, calculate the demand for empty vehicles in each second alternative area. When the third ratio is smaller, it means that the number of empty vehicles in the second alternative area corresponding to the third ratio is less than the preset lower threshold value of the number of empty vehicles corresponding to the second alternative area, that is, the second alternative area is in more urgent need of replenishing empty vehicles. Therefore, the electronic device can use the second alternative area corresponding to the minimum value in the third ratio as the first target area.

[0189] In an embodiment of the present application, the electronic device can select a storage area from other storage areas where the number of empty vehicles is lower than the corresponding preset threshold lower limit and the number of empty storage locations is higher than the corresponding preset empty storage location number threshold, as the first target area for receiving the empty vehicles transferred from the source area. In this way, when the electronic device controls the intelligent transport vehicle to transport the empty vehicles from the source area to the first target area, it can not only realize the transfer of empty vehicles in the source area, but also realize the replenishment of empty vehicles in the first target area. In addition, the electronic device can also use the ratio between the number of empty storage spaces in the storage area and the preset empty storage space number threshold as a unified indicator to measure the compliance of the empty storage spaces in each storage area, so that the compliance of the empty storage spaces in each storage area can be intuitively compared, and then the storage area with the best compliance of the empty storage spaces can be selected from each storage area as the target area for vehicle scheduling. Alternatively, the electronic device can use the ratio between the number of empty vehicles in the storage area and the corresponding preset threshold lower limit as a unified indicator to measure the demand for empty vehicles in each storage area, so that the demand for empty vehicles in each storage area can be intuitively compared, and then the storage area in urgent need of empty vehicles can be selected from each storage area as the target area for vehicle scheduling.

[0190] As an implementation of an embodiment of the present application, as shown in FIG4 , the above method may further include:

[0191] S401: If the first target area does not exist, determine whether the number of empty storage spaces in the entrance area is higher than a preset empty storage space number threshold corresponding to the entrance area.

[0192] If there is no first target area in other storage areas other than the source area that can receive the empty carriers transferred from the source area, the electronic device can further determine whether the entrance area, that is, the area where the goods enter the warehouse, can receive the empty carriers transferred from the source area.

[0193] Specifically, the electronic device can obtain the number of empty storage locations in the entrance area and determine whether the number of empty storage locations in the entrance area is higher than a preset empty storage location threshold corresponding to the entrance area, that is, determine whether the entrance area has excess empty storage locations.

[0194] S402: If the number of empty storage spaces in the entrance area is higher than the preset empty storage space number threshold corresponding to the entrance area, the entrance area is determined as a second target area for receiving empty vehicles, and the intelligent transport vehicle is controlled to transport empty vehicles from the source area to the second target area.

[0195] If the number of empty storage locations in the entrance area is higher than the preset empty storage location number threshold corresponding to the entrance area, it means that the entrance area has excess empty storage locations and can receive empty vehicles transferred from the source area. At this time, the entrance area can be determined as the second target area for receiving empty vehicles, and the electronic device can control the intelligent transport vehicle to transport the empty vehicles from the source area to the second target area.

[0196] In one embodiment, if there are multiple entrance areas, the electronic device can select an entrance area that is more suitable for receiving the empty carrier transferred from the source area from the multiple entrance areas according to a preset entrance selection rule, and then perform the above steps S401-S402 for the entrance area.

[0197] Among them, when the electronic device selects an entrance area that is more suitable for receiving empty vehicles transferred from the source area from multiple entrance areas, it can be selected based on the preset priority order corresponding to each entrance, or based on the size relationship between the number of empty storage locations in each entrance area and its corresponding preset empty storage location number threshold, or based on the size relationship between the number of empty vehicles in each entrance area and its corresponding preset threshold lower limit, or it can be selected by comprehensively considering the size relationship between the number of empty vehicles in each entrance area and its corresponding preset threshold lower limit, as well as the size relationship between the number of empty storage locations in each entrance area and its corresponding preset empty storage location number threshold. No specific limitation is made here.

[0198] S403: If the number of empty storage locations in the entrance area is not higher than the preset empty storage location threshold corresponding to the entrance area, determine whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition based on the number of empty storage locations in the other storage areas.

[0199] If the number of empty storage locations in the entrance area is not higher than the preset empty storage location number threshold corresponding to the entrance area, it means that the entrance area does not have any extra empty storage locations. In this case, if the entrance area is used as the second target area for receiving empty vehicles transferred from the source area, the number of empty storage locations in the entrance area will be further reduced, which will lead to a situation where there is no space in the entrance area to support the flow of goods. Therefore, when the number of empty storage locations in the entrance area is not higher than the preset empty storage location number threshold corresponding to the entrance area, the entrance area cannot receive the empty vehicles transferred from the source area.

[0200] In this case, the electronic device can lower the criteria for selecting target areas from other storage areas other than the source area. Specifically, the electronic device can change from "judging whether there is a first target area that meets the first vehicle replenishment condition in other storage areas based on the number of empty carriers and the number of empty storage locations in other storage areas" to "not considering the number of empty carriers in other storage areas, and only judging whether there is a third target area that meets the second vehicle replenishment condition in other storage areas based on the number of empty storage locations in other storage areas."

[0201] In one embodiment, the electronic device can respectively determine the difference between the number of empty storage locations in each other storage area and the preset empty storage location threshold corresponding to the other storage area, and then determine whether the number of empty storage locations in the other storage area corresponding to the maximum difference is higher than the preset empty storage location threshold corresponding to the storage area. If so, the other storage area is determined as the third target area that meets the second vehicle replenishment condition.

[0202] In another embodiment, the electronic device can respectively determine the ratio between the number of empty storage locations in each other storage area and the preset empty storage location threshold corresponding to the other storage area, and then determine whether the number of empty storage locations in the other storage area corresponding to the maximum ratio is higher than the preset empty storage location threshold corresponding to the storage area. If so, the other storage area is determined as the third target area that meets the second vehicle replenishment condition.

[0203] S404: If the third target area exists, control the intelligent transport vehicle to transport the empty carrier from the source area to the third target area.

[0204] If there is a third target area, the electronic device can control the intelligent transport vehicle to transport the empty carrier from the source area to the third target area.

[0205] If the third target area does not exist, it means that by using the first vehicle replenishment condition and the second vehicle replenishment condition, it is impossible to select a target area from other storage areas that can receive the empty vehicles transferred from the source area. At the same time, the entrance area is also unable to receive the empty vehicles transferred from the source area. The reason for the above result may be that there are many full vehicles loaded with goods in each storage area and the entrance area. Therefore, the electronic device can output a prompt message of goods overflowing at this time to prompt the staff to deal with it.

[0206] In the embodiment of the present application, when the electronic device determines that the first target area does not exist, it can further determine whether the entrance area can receive the empty carriers transferred from the source area. If not, it can further use the second carrier supplement condition to again determine whether the storage area can receive the empty carriers transferred from the source area, thereby selecting as many empty carriers as possible to receive the empty carriers transferred from the source area, thereby ensuring the successful dispatch of the empty carriers in the source area. In addition, when the electronic device determines the second and third target areas, only when the number of empty storage spaces in the entrance area or storage area meets certain conditions will it be determined as the second or third target area. Therefore, moving the empty carriers to the second or third target area will not cause the problem of no space in the area to support the flow of goods.

[0207] As an implementation of an embodiment of the present application, as shown in FIG5 , the determining, based on the number of empty storage spaces in the other storage areas, whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition may include:

[0208] S501 , for a storage area having the largest number of empty storage locations among the other storage areas, determining whether the number of empty storage locations in the storage area is higher than a preset empty storage location number threshold corresponding to the storage area.

[0209] When determining the third target area, the electronic device can determine the storage area with the largest number of empty storage locations among other storage areas based on the number of empty storage locations in each other storage area, and then, for the storage area with the largest number of empty storage locations, determine whether the number of empty storage locations in the storage area is higher than the preset empty storage location number threshold corresponding to the storage area, that is, determine whether the number of empty storage locations in the storage area meets the minimum requirement for the number of empty storage locations in the area.

[0210] S502: If the number of empty storage spaces in the storage area with the largest number of empty storage spaces is higher than the preset empty storage space threshold corresponding to the storage area, the storage area with the largest number of empty storage spaces is determined as the third target area for receiving empty vehicles.

[0211] If the number of empty storage locations in the storage area with the largest number of empty storage locations is higher than the preset empty storage location threshold corresponding to the storage area, it means that the number of empty storage locations in the storage area meets the minimum requirement for the number of empty storage locations in the area, and the number of empty storage locations in the storage area is the storage area with the largest number of empty storage locations among all storage areas. Therefore, the electronic device can determine the storage area with the largest number of empty storage locations as the third target area for receiving empty vehicles.

[0212] If the number of empty storage spaces in the storage area with the largest number of empty storage spaces is not higher than the preset empty storage space threshold corresponding to the storage area, it means that the number of empty storage spaces in all storage areas does not meet the minimum requirement for the number of empty storage spaces in the area, and at this time, a third target area for receiving empty vehicles cannot be determined from other storage areas.

[0213] In an embodiment of the present application, the electronic device can determine the storage area with the largest number of empty storage spaces from various other storage areas, and when the number of empty storage spaces in the storage area is higher than the preset empty storage space number threshold corresponding to the storage area, it can determine it as a third target area for receiving empty vehicles, so that the intelligent transport vehicle can be controlled to transport empty vehicles from the source area to the third target area, thereby realizing the transfer of empty vehicles in the source area.

[0214] As an implementation of an embodiment of the present application, as shown in FIG6 , there are multiple entrance areas; and determining whether the number of empty storage spaces in an entrance area is higher than a preset empty storage space threshold corresponding to the entrance area may include:

[0215] S601 : For each entrance area, calculate a fourth ratio between the number of empty storage spaces in the entrance area and a corresponding preset threshold value of the number of empty storage spaces.

[0216] After determining that the first target area does not exist, when the electronic device determines whether the entrance area can serve as the second target area for receiving empty vehicles, if there are multiple entrance areas, the electronic device can first calculate the fourth ratio between the number of empty storage locations in each entrance area and the corresponding preset empty storage location number threshold, that is, use the ratio between the number of empty storage locations in the entrance area and the preset empty storage location number threshold as a unified indicator to measure the compliance of the empty storage locations in each entrance area.

[0217] S602: Determine whether the number of empty storage spaces in the entrance area corresponding to the maximum value in the fourth ratio is higher than a preset threshold value of the number of empty storage spaces corresponding to the entrance area.

[0218] Because the larger the fourth ratio of the entrance area, the better the compliance of the empty storage locations in the entrance area, the electronic device can use the entrance area corresponding to the maximum value of the fourth ratio as the preferred entrance area after determining the fourth ratio between the number of empty storage locations of each entrance area and the corresponding preset empty storage location threshold value, and then judge whether the number of empty storage locations of the entrance area is higher than the preset empty storage location threshold value corresponding to the entrance area. If it is higher, the entrance area can be used as the second target area for receiving empty vehicles. If it is not higher, it means that all entrance areas cannot be used as the second target area for receiving empty vehicles. At this time, the electronic device can execute the above step S403 to lower the standard for selecting the target area, that is, the electronic device can change from "based on the number of empty vehicles and the number of empty storage locations in other storage areas, judging whether there is a first target area that meets the first vehicle replenishment condition in other storage areas" to "not considering the number of empty vehicles in other storage areas, and only based on the number of empty storage locations in other storage areas, judging whether there is a third target area that meets the second vehicle replenishment condition in other storage areas", and reselect the target area from other storage areas.

[0219] In an embodiment of the present application, when there are multiple entrance areas, the electronic device can select an entrance area with more sufficient empty storage spaces from among the entrance areas based on the ratio between the number of empty storage spaces in each entrance area and the corresponding preset empty storage space threshold, as the second target area for receiving empty vehicles, thereby minimizing the impact on the entrance area while transferring the empty vehicles in the source area.

[0220] As an implementation of an embodiment of the present application, as shown in FIG7 , there are multiple entrance areas; and determining whether the number of empty storage spaces in an entrance area is higher than a preset empty storage space threshold corresponding to the entrance area may include:

[0221] S701, for each entrance area, calculate a fourth ratio between the number of empty storage spaces in the entrance area and a corresponding preset threshold value of the number of empty storage spaces, and a fifth ratio between the number of empty vehicles in the entrance area and a corresponding lower limit of the preset threshold value.

[0222] After determining that the first target area does not exist, when the electronic device determines whether the entrance area can be used as the second target area for receiving empty vehicles, if there are multiple entrance areas, the electronic device can first calculate the fourth ratio between the number of empty storage locations in the entrance area and the corresponding preset empty storage location number threshold, and the fifth ratio between the number of empty vehicles in the entrance area and the corresponding preset threshold lower limit, that is, using the unified indicator of the ratio between the number of empty storage locations in the entrance area and the preset empty storage location number threshold and the unified indicator of the ratio between the number of empty vehicles and the corresponding preset threshold lower limit, comprehensively considering the compliance of the empty storage locations in each entrance area and the demand for empty vehicles in each entrance area, to select the entrance area for receiving empty vehicles.

[0223] S702: When there is a fifth ratio smaller than 1, determine whether the number of empty storage spaces in the entrance area corresponding to the minimum value of the fifth ratio is higher than a preset threshold value of the number of empty storage spaces corresponding to the entrance area.

[0224] When the fifth ratio is less than 1, it indicates that there are areas in each entrance area where the number of empty vehicles is below the corresponding preset lower threshold, that is, there are areas that need to replenish empty vehicles. The smaller the fifth ratio, the fewer empty vehicles in that entrance area compared to the preset lower threshold for the number of empty vehicles corresponding to that entrance area, that is, the more urgently that entrance area needs to replenish empty vehicles. Therefore, the electronic device can use the entrance area corresponding to the minimum value of the fifth ratio as the priority entrance area. Then, by determining whether the fourth ratio corresponding to that entrance area is greater than 1, the electronic device can determine whether the number of empty storage locations in that entrance area is higher than the preset threshold for the number of empty storage locations corresponding to that entrance area. If so, the electronic device can use that entrance area as the second target area for receiving empty vehicles.

[0225] When the number of empty storage spaces in the entrance area corresponding to the minimum value in the fifth ratio is not higher than the preset threshold value of the number of empty storage spaces corresponding to the entrance area, the electronic device can judge in order from small to large the number of fifth ratios whether the number of empty storage spaces in the entrance area corresponding to other fifth ratios that are less than 1 is higher than the preset threshold value of the number of empty storage spaces corresponding to the entrance area.

[0226] If the number of empty storage locations in the entrance area corresponding to the fifth ratio that is less than 1 is not higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area, it can be determined whether the number of empty storage locations in the entrance area corresponding to the maximum value in the fourth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area.

[0227] S703: When there is no fifth ratio less than 1, determine whether the number of empty storage spaces in the entrance area corresponding to the maximum value of the fourth ratio is higher than a preset threshold value of the number of empty storage spaces corresponding to the entrance area.

[0228] When there is no fifth ratio less than 1, it means that there is no area in each entrance area where the number of empty vehicles is lower than the corresponding preset threshold lower limit, that is, there is no area that needs to be replenished with empty vehicles. In this case, because the larger the fourth ratio of the entrance area, the better the compliance of the empty storage spaces in the entrance area, the electronic device can use the entrance area corresponding to the maximum value of the fourth ratio, that is, the entrance with the best compliance of the empty storage spaces, as the preferred entrance area, and then determine whether the number of empty storage spaces in the entrance area is higher than the preset empty storage space number threshold corresponding to the entrance area. If the number of empty storage spaces in the entrance area is higher than the preset empty storage space number threshold corresponding to the entrance area, the entrance area can be used as the second target area for receiving empty vehicles.

[0229] If the number of empty storage locations in the entrance area is not higher than the preset empty storage location threshold corresponding to the entrance area, it means that the maximum value in the fourth ratio is not greater than 1, and furthermore, the fourth ratios corresponding to each entrance area are all less than 1, that is, the number of empty storage locations in each entrance area is not higher than the preset empty storage location threshold corresponding to the entrance area. Therefore, in this case, the electronic device can determine that none of the entrance areas can serve as the second target area for receiving empty vehicles, and then the electronic device can execute the above step S403 to lower the standard for selecting the target area, that is, the electronic device can change from "based on the number of empty vehicles and the number of empty storage locations in other storage areas, judging whether there is a first target area that meets the first vehicle replenishment condition in other storage areas" to "not considering the number of empty vehicles in other storage areas, and only based on the number of empty storage locations in other storage areas, judging whether there is a third target area that meets the second vehicle replenishment condition in other storage areas", and reselect the target area from other storage areas.

[0230] In an embodiment of the present application, when there are multiple entrance areas, the electronic device can select an entrance area for receiving empty vehicles from each entrance area based on the ratio between the number of empty storage spaces in each entrance area and the corresponding preset empty storage space number threshold, as well as the ratio between the number of empty vehicles in the entrance area and the corresponding preset threshold lower limit, taking into account the compliance of the empty storage spaces in each entrance area and the demand for empty vehicles in each entrance area.

[0231] As an implementation of an embodiment of the present application, as shown in FIG8 , the above method may further include:

[0232] S801: If the number of empty storage spaces in the first candidate area is not lower than the preset empty storage space threshold corresponding to the first candidate area, determine whether the entrance area meets the third vehicle replenishment condition based on the number of empty vehicles and the number of empty storage spaces in the entrance area.

[0233] If the number of empty storage locations in the first alternative area is not lower than the preset empty storage location threshold corresponding to the first alternative area, it means that the ratio between the number of empty storage locations in the first alternative area and the corresponding preset empty storage location threshold is not less than 1, and the first alternative area is the storage area with the smallest ratio between the number of empty storage locations and the corresponding preset empty storage location threshold among all storage areas. Therefore, it means that the ratio between the number of empty storage locations in all storage areas and the corresponding preset empty storage location threshold is greater than or equal to 1, that is, the number of empty storage locations in all storage areas is greater than or equal to the preset empty storage location threshold corresponding to the storage area.

[0234] The number of empty storage locations in all storage areas is greater than or equal to the preset empty storage location threshold corresponding to the storage area, indicating that the number of vehicles in the storage area is relatively small. At this time, most vehicles may be located in the entrance area waiting to be loaded with goods. Therefore, in order to speed up the circulation of goods, the electronic device can determine whether the entrance area meets the third vehicle replenishment condition based on the number of empty vehicles and the number of empty storage locations in the entrance area. If the condition is met, the empty vehicles will be replenished to the entrance area to speed up the circulation of goods. If the condition is not met, the empty vehicles will not be replenished.

[0235] S802: If the entrance area satisfies the third vehicle replenishment condition, for the storage area with the largest ratio of the number of empty vehicles to the corresponding preset lower threshold, determine whether the number of empty vehicles in the storage area is higher than the preset lower threshold corresponding to the storage area.

[0236] If the entrance area meets the third vehicle replenishment condition, the electronic device can calculate the ratio between the number of empty vehicles in each storage area and the preset threshold lower limit corresponding to the storage area. Because the larger the ratio, the better the number of empty vehicles in the storage area meets the corresponding minimum empty vehicle number requirement of the storage area. Therefore, the storage area with the largest ratio of the number of empty vehicles to the corresponding preset threshold lower limit can be used as an alternative storage area for replenishing empty vehicles in the entrance area.

[0237] At the same time, because the storage area itself needs to retain a certain number of vehicles to meet the cargo handling needs generated by the storage area, after the electronic device determines the alternative storage area for replenishing empty vehicles in the entrance area, it can judge whether the number of empty vehicles in the alternative storage area with the largest ratio between the number of empty vehicles and the corresponding preset threshold lower limit is higher than the preset threshold lower limit corresponding to the storage area, that is, whether there are excess empty vehicles in the storage area.

[0238] S803, if the number of empty vehicles in the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest is higher than the preset threshold lower limit corresponding to the storage area, control the intelligent transport vehicle to transport the empty vehicles from the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest to the entrance area.

[0239] If the number of empty vehicles in the storage area with the largest ratio of the number of empty vehicles to the corresponding preset threshold lower limit is higher than the preset threshold lower limit corresponding to the storage area, it means that the storage area has excess empty vehicles and can replenish the entrance area with empty vehicles. At this time, the electronic equipment can control the intelligent transport vehicle to transport empty vehicles from the storage area with the largest ratio of the number of empty vehicles to the corresponding preset threshold lower limit to the entrance area.

[0240] If the number of empty vehicles in the storage area with the largest ratio of the number of empty vehicles to the corresponding preset threshold lower limit is not higher than the preset threshold lower limit corresponding to the storage area, it means that the ratio of the number of empty vehicles to the corresponding preset threshold lower limit in the storage area is not greater than 1, and the ratio of the number of empty vehicles to the corresponding preset threshold lower limit in the storage area is the largest among all storage areas. In other words, the ratio of the number of empty vehicles to the corresponding preset threshold lower limit in each storage area is not greater than 1, that is, the number of empty vehicles in each entrance area is not higher than the corresponding preset threshold lower limit. In this case, all storage areas cannot replenish empty vehicles for the entrance area, and empty vehicles do not need to be replenished at this time.

[0241] In the embodiment of the present application, when the electronic device determines that the number of empty storage spaces in the first candidate area is not less than a preset empty storage space threshold corresponding to the first candidate area, it can determine whether the entrance area needs to be replenished with empty carriers, and can determine a storage area for replenishing empty carriers for the entrance area based on the number of empty carriers in each storage area and the corresponding preset lower threshold. Replenishing empty carriers in the entrance area can thus speed up the flow of goods.

[0242] As an implementation of an embodiment of the present application, as shown in FIG9 , there are multiple entry areas; and determining whether the entry area satisfies the third vehicle supplement condition may include:

[0243] S901: traverse the plurality of entry areas in a preset priority order.

[0244] When there are multiple entrance areas, the electronic device can traverse the multiple entrance areas in a preset priority order and replenish empty vehicles for each entrance area in turn.

[0245] Among them, the priority order of each entrance area can be determined by the staff according to actual usage needs, or it can be determined according to the size relationship between the number of empty vehicles and the number of empty storage spaces in each entrance area and the corresponding threshold values, or it can be determined according to the size relationship between the number of empty storage spaces in each entrance area and its corresponding preset empty storage space number threshold value, or it can be determined by comprehensively considering the size relationship between the number of empty vehicles in each entrance area and its corresponding preset threshold lower limit, as well as the size relationship between the number of empty storage spaces in each entrance area and its corresponding preset empty storage space number threshold value. No specific limitation is made here.

[0246] In one embodiment, the electronic device can calculate, for each entrance area, a fourth ratio between the number of empty storage spaces in the entrance area and the corresponding preset empty storage space threshold, and then determine the priority of each entrance area according to the rule that the larger the fourth ratio, the higher the priority.

[0247] In another embodiment, the electronic device may calculate, for each entrance area, a fifth ratio between the number of empty vehicles in the entrance area and the corresponding preset lower threshold value, and then determine the priority of each entrance area according to the rule that the smaller the fifth ratio, the higher the priority.

[0248] S902, each time an entrance area is traversed, it is determined whether the number of empty vehicles in the entrance area is lower than the corresponding preset threshold lower limit, and whether the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location threshold.

[0249] S903: If the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold, and the number of empty storage spaces is higher than the corresponding preset empty storage space threshold, it is determined that the entrance area meets the third vehicle replenishment condition.

[0250] Each time an entrance area is traversed, the electronic device can determine whether the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold value, and whether the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location threshold value; if the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold value, and the number of empty storage locations is higher than the corresponding preset empty storage location threshold value, it means that the entrance area has fewer empty vehicles and more empty storage locations. At this time, the electronic device can determine that the entrance area meets the third vehicle replenishment condition, and can then dispatch empty vehicles from the storage area to replenish the entrance area.

[0251] If the number of empty vehicles in the entrance area is not less than the corresponding preset lower threshold, it indicates that the entrance area has a large number of empty vehicles. This may be because there is no cargo, and there is no need to dispatch empty vehicles from the storage area to replenish the entrance area. If the number of empty storage locations is not greater than the corresponding preset empty storage location threshold, it indicates that the entrance area has a small number of empty storage locations. To ensure the normal movement of vehicles in the current entrance area, no more empty vehicles can be dispatched from the storage area to replenish the entrance area. Therefore, if the number of empty vehicles in the entrance area is not less than the corresponding preset lower threshold, or the number of empty storage locations is not greater than the corresponding preset empty storage location threshold, the electronic device can determine that the entrance area does not meet the third vehicle replenishment condition.

[0252] S904, if the number of empty vehicles in the entrance area is not lower than the corresponding preset lower threshold value, or the number of empty storage locations is not higher than the corresponding preset empty storage location threshold value, continue to traverse the next entrance area, and return to the step of traversing each entrance area to determine whether the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold value, and whether the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location threshold value.

[0253] If the current entry area does not meet the third vehicle supplement condition, the electronic device may traverse the next entry area in order of priority and return to determination step S902 to determine whether the next entry area meets the third vehicle supplement condition.

[0254] In an embodiment of the present application, when there are multiple entrance areas for the electronic device, each entrance area can be judged in turn according to the priority order of each entrance area to determine whether it meets the third vehicle replenishment condition. In judging whether the entrance area meets the third vehicle replenishment condition, the number of empty storage spaces and the number of empty vehicles in the entrance area can be comprehensively considered to make a judgment, thereby accurately determining whether the entrance area needs to be replenished with empty vehicles.

[0255] As an implementation of an embodiment of the present application, as shown in FIG10 , after controlling the intelligent transport vehicle to transport empty vehicles from the storage area where the ratio of the number of empty vehicles to the corresponding preset lower threshold value is the largest to the entrance area, the method may further include:

[0256] S1001, determining whether the number of empty vehicles in the entrance area has not reached the corresponding preset upper threshold value, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold value.

[0257] After controlling the intelligent transport vehicle to transport empty vehicles from the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest to the entrance area, the electronic device can determine whether the number of empty vehicles in the entrance area has not reached the corresponding preset threshold upper limit, and whether the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location number threshold, that is, determine whether the empty vehicles in the entrance area are replenished to the threshold upper limit, and whether the entrance area can continue to be replenished with empty vehicles.

[0258] S1002, if the number of empty vehicles in the entrance area has not reached the corresponding preset upper threshold value, and the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold value, return to the storage area with the largest ratio between the number of empty vehicles and the corresponding preset lower threshold value, and determine whether the number of empty vehicles in the storage area is higher than the corresponding preset lower threshold value of the storage area.

[0259] If the number of empty vehicles in the entrance area has not reached the corresponding preset upper threshold value, and the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location number threshold value, the electronic device can return to step S802 and continue to select storage areas for the entrance area for replenishing empty vehicles to replenish empty vehicles until the number of empty vehicles in the entrance area reaches the corresponding preset upper threshold value, that is, the entrance area does not need to replenish empty vehicles (the number of empty vehicles in the entrance area has met the demand of the entrance area for empty vehicles, and no more empty vehicles need to be replenished), or the number of empty storage locations in the entrance area is not higher than the corresponding preset empty storage location number threshold value, that is, the entrance area cannot continue to accommodate empty vehicles (the number of empty storage locations in the entrance area has reached the lowest lower limit of the empty storage locations for the entrance area, and continuing to receive empty vehicles will make the number of empty storage locations in the entrance area unable to meet the demand of the entrance area for empty storage locations), or there is no storage area in each storage area that can replenish empty vehicles for the entrance area, that is, the entrance area cannot be replenished with empty vehicles.

[0260] If the number of empty vehicles in the entrance area reaches the corresponding preset upper threshold value, or the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location number threshold value, the electronic device can stop replenishing empty vehicles for the entrance area.

[0261] In an embodiment of the present application, after the electronic device controls the intelligent transport vehicle to replenish the empty carriers for the entrance area, it can determine whether the number of empty carriers in the entrance area has not reached the corresponding preset upper threshold value, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold value, so as to determine whether the entrance area needs and can continue to accommodate empty carriers. If the entrance area needs and can continue to accommodate empty carriers, the entrance area will continue to be replenished with empty carriers until it is replenished to the corresponding preset upper threshold value for the entrance area, or until it cannot be replenished, so that the entrance area has sufficient empty carriers to support the flow of goods.

[0262] As an implementation manner of an embodiment of the present application, the above-mentioned other storage areas are storage areas in which the type of carriers stored is the same as the type of carriers stored in the source area.

[0263] Because there may be many types of carriers in the warehouse, some carriers are large-scale circulation carriers and will circulate between all storage areas, and some carriers are local closed-loop carriers and will only circulate in specific storage areas. Therefore, when the electronic device determines other storage areas for receiving empty carriers transferred from the source area, it needs to consider whether the carrier type stored in the other storage area includes the carrier type of the empty carrier transferred from the source area, that is, based on the carrier type, it determines whether the empty carrier transferred from the source area can be transferred to the other storage area.

[0264] Therefore, when determining other storage areas except the source area, the electronic device can use the storage area except the source area and storing the same type of carrier as the type of carrier stored in the source area as the other storage areas except the source area.

[0265] Taking Figure 11 as an example, the warehouse contains Type A and Type B carriers. Type A carriers circulate between Storage Area 1, Storage Area 2, and the work area, while Type B carriers circulate between Storage Area 3, Storage Area 4, Storage Area 5, Storage Area 6, and the work area. Furthermore, Type A and Type B carriers can also circulate between these storage areas, work area, and entrance area. Assuming Storage Area 1 is the source area, then the corresponding storage area for Storage Area 1 is Storage Area 2. Assuming Storage Area 3 is the source area, then the corresponding storage areas for Storage Area 3 are Storage Area 4, Storage Area 5, and Storage Area 6.

[0266] In one embodiment, the electronic device can store the correspondence between the carrier number and the carrier type. In this way, when a new carrier is added to the warehouse, the electronic device can identify the carrier number of the new carrier, and then determine the carrier type of the new carrier based on the stored correspondence between the carrier number and the carrier type.

[0267] In the embodiments of the present application, the electronic device can, on the one hand, control local closed-loop carriers to perform closed simple circulation according to the carrier type, supporting businesses that require stable and rapid response to transportation needs; on the other hand, it can also control large-scale circulation carriers to uniformly circulate in a large area, supporting the transportation of goods from one entrance area to multiple storage areas and circulating empty carriers, which can integrate the use of sites and carriers, saving space and carrier requirements. The same work area supports the simultaneous circulation of multiple carrier types. Both general-purpose carriers and special-purpose carriers can continue to circulate after being cleaned in the same work area, integrating the use of site equipment.

[0268] Taking Figure 12 as an example, the vehicle scheduling method in an embodiment of the present application is introduced below.

[0269] The electronic device may first search for the storage area with the smallest ratio between the number of empty storage locations and the empty storage location threshold, identifying it as storage area M. This involves executing step S1201 to determine the storage area with the worst empty storage location compliance among the storage areas. The electronic device may then execute step S1202 to determine whether the number of empty storage locations in storage area M is below the empty storage location threshold. If so, this indicates that storage area M currently has a limited number of empty locations and needs to transfer some empty carriers to increase the number of empty locations.

[0270] However, a certain number of empty carriers must be retained in storage area M to meet immediate cargo handling needs. Therefore, after determining that the number of empty storage locations in storage area M is below the empty storage location threshold, the electronic device executes step S1203 to further determine whether the number of empty carriers in storage area M is above the lower threshold. If it is not, that is, the judgment result of step S1203 is negative, it indicates that there are few empty storage locations and empty carriers in storage area M, and it is impossible to increase the number of empty storage locations in storage area M by transferring empty carriers. Furthermore, the low number of empty storage locations and empty carriers means that there are many full carriers loaded with cargo in storage area M. Therefore, if the judgment result of step S1203 is negative, a warning message indicating a cargo overflow can be output and the carrier scheduling process can be terminated, that is, step S1204 is executed.

[0271] If the judgment result in step S1203 is yes, it means that there are few empty storage locations in storage area M, but many empty carriers. In this case, transferring some of the empty carriers in storage area M can not only increase the empty storage locations in storage area M, but also ensure that the immediate cargo handling needs are met. Therefore, if the judgment result in step S1203 is yes, the electronic device can execute steps S1205 and S1206 to determine whether the number of empty carriers in storage area N is below the lower threshold and whether the number of empty storage locations in storage area N is above the empty storage location threshold. Storage area N is a storage area other than storage area M. Through the above steps S1205 and S1206, the electronic device can determine whether there is a storage area in the other storage area that can receive the empty carriers transferred from storage area M.

[0272] If the judgment results of step S1205 and step S1206 are both yes, it can be determined that the storage area N can be used as a storage area for receiving empty carriers transferred from the storage area M. At this time, the electronic device can control the intelligent transport vehicle to transport the empty carriers from the storage area M to the storage area N, that is, execute step S1207.

[0273] If the result of step S1205 is negative, step S1208 is executed to determine whether the number of empty storage spaces in entry area R exceeds the empty storage space threshold, thereby determining whether entry area R can receive empty carriers transferred from storage area M. If the result of step S1206 is negative, step S1216 is executed to output a cargo overflow warning message and terminate the carrier dispatch process.

[0274] When the number of empty storage locations in the entrance area R is higher than the empty storage location number threshold, that is, when the judgment result of step S1208 is yes, it indicates that the entrance area R has excess empty storage locations that can be used to receive empty carriers transferred from the storage area M. At this time, the electronic device can control the intelligent transport vehicle to transport the empty carriers from the storage area M to the entrance area R, that is, execute step S1209.

[0275] When the number of empty storage locations in the entrance area R is not higher than the empty storage location number threshold, that is, when the judgment result of step S1208 is no, it indicates that the entrance area R has no extra empty storage locations that can be used to receive the empty carriers transferred from the storage area M. At this time, the electronic device can lower the standard for selecting the target area from other storage areas. Specifically, the electronic device can ignore the number of empty carriers in other storage areas and judge whether there is a third target area in other storage areas that meets the second carrier replenishment condition based only on the number of empty storage locations in other storage areas.

[0276] In this case, the electronic device can execute steps S1210 and S1211, searching for the storage area with the largest number of empty storage locations among all storage areas, identifying it as storage area P, and determining whether the number of empty storage locations in storage area P exceeds a threshold number of empty storage locations. If so, the electronic device moves the empty carrier from storage area M to storage area P, executing step S1213. If not, the electronic device executes step S1212, outputs a warning message indicating a cargo overflow, and terminates the carrier dispatch process.

[0277] After executing steps S1207, S1209 or S1213, the electronic device can return to step S1201 and continue the judgment process to transfer empty carriers to the storage area until the number of empty storage locations in each storage area is not less than the empty storage location threshold, or the number of returns reaches a preset number, so that the storage area has sufficient empty storage locations to support the flow of goods.

[0278] If the judgment result of step S1202 is no, it means that the number of empty storage locations in all storage areas is greater than the preset empty storage location number threshold value corresponding to the storage area. At this time, the electronic device can execute steps S1214 and S1215 to determine whether the number of empty carriers in the entrance area R is lower than the threshold value and whether the number of empty storage locations in the entrance area R is higher than the empty storage location number threshold value to determine whether the entrance area R needs to be supplemented with empty carriers and whether the empty carriers can be supplemented.

[0279] If the judgment result of step S1214 is no, step S1220 can be executed to end the vehicle scheduling process. If the judgment result of step S1215 is no, step S1216 can be executed to output a prompt message of cargo overflow and end the vehicle scheduling process.

[0280] If the results of both steps S1214 and S1215 are yes, it can be determined that entry area R needs to be replenished with empty vehicles and that it can be replenished. The electronic device can then execute steps S1217 and S1218, searching for the storage area with the largest ratio of the number of empty vehicles to the lower threshold among the storage areas, identifying it as storage area W. The electronic device then determines whether the number of empty vehicles in storage area W is greater than the lower threshold, thereby determining whether any storage area can be replenished with empty vehicles for entry area R.

[0281] If the result of step S1218 is no, it means that there is no storage area in the storage area that can replenish empty vehicles for the entrance area R. In this case, step S1220 can be executed to end the vehicle scheduling process. If the result of step S1218 is yes, it means that storage area W can replenish empty vehicles for the entrance area R. In this case, the electronic device can control the intelligent transport vehicle to move the empty vehicles from storage area W to the entrance area R, that is, execute step S1219 to replenish the empty vehicles for the entrance area R.

[0282] After executing step S1219, the electronic device can return to step S1214 and continue the judgment process to replenish empty carriers for the entrance area R until it is replenished to the preset threshold upper limit corresponding to the entrance area R, or the number of empty storage locations in the entrance area R is not higher than the corresponding preset empty storage location number threshold, or there is no storage area in each storage area that can replenish empty carriers for the entrance area R, so that the entrance area R has sufficient empty carriers to support the flow of goods.

[0283] It should be noted that when the entry area R is first determined, the threshold in step S1214 refers to the lower threshold. When the electronic device returns to step S1214 after executing step S1219, the threshold in step S1214 refers to the upper threshold. In other words, when the number of empty carriers in the entry area R falls below the lower threshold, the electronic device replenishes empty carriers until the number of empty carriers in the entry area R is no less than the upper threshold. Of course, if the number of empty storage locations in the entry area R is no higher than the corresponding preset empty storage location threshold, or if there is no storage area in the storage area that can replenish empty carriers for the entry area R, the electronic device will stop replenishing empty carriers for the entry area R.

[0284] In an embodiment of the present application, the electronic device can dynamically determine the destination of the vehicle and balance the use of regional venues. Specifically, based on the threshold value of the number of empty storage spaces in the region and the threshold value of the number of empty vehicles, the number of empty storage spaces and the number of vehicles in each region are jointly determined to achieve joint balanced scheduling of vehicles in multiple regions, and to achieve regular and proactive coordination and balancing of the number of venues and vehicles in multiple regions, thereby avoiding the situation where there is no venue or vehicle to support the flow of goods, and ensuring the smooth flow of goods.

[0285] Corresponding to the above-mentioned vehicle scheduling method, an embodiment of the present application further provides a vehicle scheduling device. The following introduces a vehicle scheduling device provided in an embodiment of the present application.

[0286] As shown in FIG13 , a vehicle scheduling device includes:

[0287] The empty storage location number acquisition module 1310 is used to obtain the number of empty storage locations in each storage area in the warehouse, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles;

[0288] A source region determining module 1320 is configured to determine, from each storage region, a storage region to which empty vehicles need to be transferred as a source region based on a relationship between the number of empty storage spaces in each storage region and a corresponding preset empty storage space threshold;

[0289] A first determination module 1330 is configured to determine whether the number of empty vehicles in the source area is higher than a preset lower threshold corresponding to the source area;

[0290] A second determination module 1340 is configured to determine, when the number of empty vehicles in the source area is higher than a preset lower threshold corresponding to the source area, based on the number of empty vehicles and the number of empty storage spaces in other storage areas other than the source area, whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition;

[0291] The control module 1350 is configured to control the intelligent transport vehicle to transport the empty carrier from the source area to the first target area when the first target area exists.

[0292] In the solution provided by the embodiment of the present application, an electronic device can obtain the number of empty storage locations in each storage area in a warehouse, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles; based on the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, a storage area to which empty vehicles need to be transferred is determined from each storage area as a source area; it is determined whether the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area; if the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas other than the source area, it is determined whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition; if the first target area exists, the intelligent transport vehicle is controlled to transport the empty vehicle from the source area to the first target area. Since the electronic device can determine the source area to which the empty vehicle needs to be transferred and the first target area to which the empty vehicle needs to be replenished based on the empty storage locations and empty vehicle conditions of each storage area, and then control the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, the transfer of empty vehicles in the source area and the replenishment of empty vehicles in the first target area are completed, so that the empty vehicles in the warehouse are evenly distributed. In addition, when dispatching vehicles, the electronic equipment comprehensively considers the number of empty storage spaces and the number of empty vehicles, so it can ensure that the storage area has both sufficient empty storage spaces and sufficient empty vehicles to support the flow of goods, avoiding the situation where there is no space or vehicles to support the flow of goods, and ensuring the smooth flow of goods.

[0293] As an implementation of an embodiment of the present application, the source region determination module 1320 may include:

[0294] A first ratio calculation unit is configured to calculate, for each storage area, a first ratio between the number of empty storage spaces in the storage area and a corresponding preset empty storage space threshold;

[0295] a first candidate region determining unit, configured to select a storage region corresponding to a minimum value among the first ratios as a first candidate region;

[0296] a first determining unit, configured to determine whether the number of vacant storage spaces in the first candidate area is lower than a preset vacant storage space threshold corresponding to the first candidate area;

[0297] A source region determining unit is configured to determine the first candidate region as a source region when the judgment result of the first judgment unit is yes.

[0298] As an implementation of the embodiment of the present application, the second determination module 1340 may include:

[0299] a second candidate area determination unit, configured to determine whether there is a second candidate area in other storage areas other than the source area, in which the number of empty vehicles is lower than a corresponding preset lower threshold value and the number of empty storage locations is higher than a corresponding preset empty storage location number threshold value;

[0300] a second ratio calculation unit configured to calculate, for each second candidate area, a second ratio between the number of vacant storage spaces in the second candidate area and a corresponding preset vacant storage space threshold value when the second candidate area exists;

[0301] a third ratio calculation unit, configured to calculate, for each second candidate area, a third ratio between the number of empty vehicles in the second candidate area and a corresponding preset lower threshold value when the second candidate area exists;

[0302] The first target area determination unit is configured to use the second candidate area corresponding to the maximum value of the second ratio as the first target area, or use the second candidate area corresponding to the minimum value of the third ratio as the first target area.

[0303] As an implementation of the embodiment of the present application, the above-mentioned device may further include:

[0304] a third judgment module, configured to judge, when the first target area does not exist, whether the number of empty storage spaces in an entrance area is higher than a preset empty storage space number threshold corresponding to the entrance area, wherein the entrance area is an area where goods enter the warehouse;

[0305] a second target area determination module, configured to determine the entrance area as a second target area for receiving an empty vehicle when the determination result of the third determination module is yes;

[0306] a third target area determination module configured to determine, when the determination result of the third determination module is negative, whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition based on the number of empty storage spaces in the other storage areas;

[0307] The control module is further used to control the intelligent transport vehicle to transport the empty carrier from the source area to the second target area, or to control the intelligent transport vehicle to transport the empty carrier from the source area to the third target area.

[0308] As an implementation of an embodiment of the present application, the third target area determination module may include:

[0309] a second determining unit, configured to determine, for a storage area having the largest number of empty storage locations among the other storage areas, whether the number of empty storage locations in the storage area is higher than a preset empty storage location number threshold corresponding to the storage area;

[0310] The third target area determination unit is configured to determine the storage area with the largest number of empty storage spaces as a third target area for receiving empty vehicles when the determination result of the second determination unit is yes.

[0311] As an implementation method of the embodiment of the present application, there are multiple entrance areas;

[0312] The third judgment module may include:

[0313] a fourth ratio calculation unit, configured to calculate, for each entrance area, a fourth ratio between the number of empty storage spaces in the entrance area and a corresponding preset threshold value of the number of empty storage spaces;

[0314] a fifth ratio calculation unit, configured to calculate, for each entrance area, a fifth ratio between the number of empty vehicles in the entrance area and a corresponding preset lower threshold value;

[0315] The third judgment unit is used to judge whether the number of empty storage locations in the entrance area corresponding to the maximum value of the fourth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area, or, when there is a fifth ratio less than 1, to judge whether the number of empty storage locations in the entrance area corresponding to the minimum value of the fifth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area; when there is no fifth ratio less than 1, to judge whether the number of empty storage locations in the entrance area corresponding to the maximum value of the fourth ratio is higher than the preset threshold value of the number of empty storage locations corresponding to the entrance area.

[0316] As an implementation of the embodiment of the present application, the above-mentioned device may further include:

[0317] a fourth judgment module, configured to judge whether the entrance area satisfies a third vehicle replenishment condition based on the number of empty vehicles and the number of empty storage spaces in the entrance area when the judgment result of the first judgment unit is negative;

[0318] a fifth determination module configured to, when the determination result of the fourth determination module is yes, determine, for the storage area having the largest ratio of the number of empty vehicles to the corresponding preset lower threshold, whether the number of empty vehicles in the storage area is higher than the preset lower threshold corresponding to the storage area;

[0319] The control module is used to control the intelligent transport vehicle to transport the empty carriers from the storage area where the ratio of the number of empty carriers to the corresponding preset threshold lower limit is the largest to the entrance area when the judgment result of the fifth judgment module is yes.

[0320] As an implementation method of the embodiment of the present application, there are multiple entrance areas;

[0321] The fourth judgment module may include:

[0322] a traversal unit, configured to traverse the plurality of entry areas in a preset priority order;

[0323] A fourth judgment unit is configured to judge, each time an entrance area is traversed, whether the number of empty vehicles in the entrance area is lower than a corresponding preset lower threshold value, and whether the number of empty storage spaces in the entrance area is higher than a corresponding preset empty storage space threshold value;

[0324] a supplement determination unit, configured to determine that the entrance area satisfies a third vehicle supplement condition when the determination result of the fourth determination unit is yes;

[0325] The returning unit is configured to continue traversing the next entry area and trigger the execution of the fourth judging unit when the judgment result of the fourth judging unit is negative.

[0326] As an implementation of the embodiment of the present application, the above-mentioned device may further include:

[0327] a sixth judgment module, configured to judge, after the control module controls the intelligent transport vehicle to transport an empty vehicle from the storage area having the largest ratio between the number of empty vehicles and the corresponding lower limit of the preset threshold value to the entrance area, whether the number of empty vehicles in the entrance area has not reached the corresponding upper limit of the preset threshold value, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset threshold value of the number of empty storage spaces;

[0328] The first return module is configured to trigger execution of the fifth judgment module when the judgment result of the sixth judgment module is yes.

[0329] As an implementation of the embodiment of the present application, the device may further include:

[0330] The second return module is used to trigger the execution of the empty storage space quantity acquisition module after the control module controls the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, until the number of empty storage spaces in each storage area is not less than the preset empty storage space quantity threshold corresponding to the storage area, or the number of returns reaches the preset number.

[0331] As an implementation manner of an embodiment of the present application, the above-mentioned other storage areas are storage areas in which the type of carriers stored is the same as the type of carriers stored in the source area.

[0332] Corresponding to the above-mentioned vehicle scheduling method, an embodiment of the present application also provides a vehicle scheduling system. The following introduces a vehicle scheduling system provided by an embodiment of the present application.

[0333] As shown in FIG14 , a vehicle dispatching system includes a control device 1401 and an intelligent transport vehicle 1402 , wherein:

[0334] The control device 1401 is used to obtain the number of empty storage locations in each storage area in the warehouse; according to the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, determine the storage area to which the empty vehicles need to be transferred from each storage area as the source area; determine whether the number of empty vehicles in the source area is higher than the lower limit of the preset threshold corresponding to the source area; if the number of empty vehicles in the source area is higher than the lower limit of the preset threshold corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas except the source area, determine whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition; if the first target area exists, send a control instruction to the intelligent transport vehicle 1402, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles;

[0335] The intelligent transport vehicle 1402 is configured to transport the empty vehicle from the source area to the first target area upon receiving the control instruction.

[0336] In the solution provided in the embodiment of the present application, the control device can obtain the number of empty storage locations in each storage area in the warehouse, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles; according to the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, the storage area to which the empty vehicles need to be transferred is determined from each storage area as the source area; it is judged whether the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area; if the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas except the source area, it is judged whether there is a first target area in other storage areas that meets the first vehicle replenishment condition; if the first target area exists, a control instruction is sent to the intelligent transport vehicle, and when the intelligent transport vehicle receives the control instruction, it moves the empty vehicles from the source area to the first target area. Since the control device can determine the source area where empty carriers need to be transferred and the first target area where empty carriers need to be replenished based on the empty storage locations and empty carriers in each storage area, and then control the intelligent transport vehicle to move the empty carriers from the source area to the first target area, it not only completes the transfer of empty carriers in the source area, but also completes the replenishment of empty carriers in the first target area, making the empty carriers in the warehouse evenly distributed. In addition, when dispatching carriers, the control device comprehensively considers the number of empty storage locations and the number of empty carriers, so it can ensure that the storage area has sufficient empty storage locations and sufficient empty carriers to support the flow of goods, avoiding the situation where there is no space or carriers to support the flow of goods, and ensuring the smooth flow of goods.

[0337] The present application also provides an electronic device, as shown in FIG15 , including:

[0338] Memory 1501, used for storing computer programs;

[0339] The processor 1502 is configured to implement the steps of the vehicle scheduling method described in any of the above embodiments when executing the program stored in the memory 1501.

[0340] In the solution provided by the embodiment of the present application, an electronic device can obtain the number of empty storage locations in each storage area in a warehouse, wherein the storage area includes multiple storage locations, and the storage locations are used to store vehicles; based on the size relationship between the number of empty storage locations in each storage area and the corresponding preset empty storage location number threshold, a storage area to which empty vehicles need to be transferred is determined from each storage area as a source area; it is determined whether the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area; if the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas other than the source area, it is determined whether there is a first target area in the other storage areas that meets the first vehicle replenishment condition; if the first target area exists, the intelligent transport vehicle is controlled to transport the empty vehicle from the source area to the first target area. Since the electronic device can determine the source area to which the empty vehicle needs to be transferred and the first target area to which the empty vehicle needs to be replenished based on the empty storage locations and empty vehicle conditions of each storage area, and then control the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, the transfer of empty vehicles in the source area and the replenishment of empty vehicles in the first target area are completed, so that the empty vehicles in the warehouse are evenly distributed. In addition, when dispatching vehicles, the electronic equipment comprehensively considers the number of empty storage spaces and the number of empty vehicles, so it can ensure that the storage area has both sufficient empty storage spaces and sufficient empty vehicles to support the flow of goods, avoiding the situation where there is no space or vehicles to support the flow of goods, and ensuring the smooth flow of goods.

[0341] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1502, the communication interface, and the memory 1501 communicate with each other via the communication bus.

[0342] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0343] The communication interface is used for communication between the above electronic device and other devices.

[0344] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0345] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0346] In another embodiment provided in the present application, a computer-readable storage medium is further provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle scheduling method described in any of the above embodiments are implemented.

[0347] In another embodiment provided by the present application, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute the vehicle scheduling method described in any of the above embodiments.

[0348] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape) or an optical medium (e.g., a DVD).

[0349] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0350] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, since the device, system, electronic device, computer-readable storage medium, and computer program product embodiments are generally similar to the method embodiments, their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0351] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A vehicle scheduling method, characterized in that: The method comprises: Obtaining the number of empty storage locations in each storage area in the warehouse, wherein the storage area includes a plurality of storage locations, and the storage locations are used to store vehicles; According to the relationship between the number of empty storage locations in each storage area and the corresponding preset threshold value of the number of empty storage locations, a storage area to which the empty carrier needs to be transferred is determined from each storage area as a source area; Determine whether the number of empty vehicles in the source area is higher than a preset threshold lower limit corresponding to the source area; If the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas except the source area, determining whether there is a first target area that meets the first vehicle replenishment condition in the other storage areas; If the first target area exists, the intelligent transport vehicle is controlled to transport the empty carrier from the source area to the first target area.

2. The method according to claim 1, characterized in that: The step of determining, from each storage area, a storage area to which empty vehicles need to be transferred as a source area according to a size relationship between the number of empty storage locations in each storage area and a corresponding preset threshold number of empty storage locations includes: For each storage area, calculating a first ratio between the number of empty storage locations in the storage area and a corresponding preset threshold value of the number of empty storage locations; taking the storage area corresponding to the minimum value of the first ratio as the first candidate area; Determine whether the number of empty storage spaces in the first candidate area is lower than a preset threshold number of empty storage spaces corresponding to the first candidate area; If the number of empty storage locations in the first candidate region is lower than a preset empty storage location number threshold corresponding to the first candidate region, the first candidate region is determined as a source region.

3. The method according to claim 1, characterized in that: The determining whether there is a first target area satisfying the first carrier replenishment condition in the other storage areas based on the number of empty carriers and the number of empty storage locations in the other storage areas except the source area includes: Determine whether there is a second candidate area in other storage areas except the source area, where the number of empty vehicles is lower than the corresponding preset lower threshold and the number of empty storage locations is higher than the corresponding preset empty storage location number threshold; If the second alternative area exists, for each second alternative area, calculate the second ratio between the number of empty storage spaces in the second alternative area and the corresponding preset threshold value of the number of empty storage spaces; take the second alternative area corresponding to the maximum value of the second ratio as the first target area; or, for each second alternative area, calculate the third ratio between the number of empty vehicles in the second alternative area and the corresponding lower limit of the preset threshold; take the second alternative area corresponding to the minimum value of the third ratio as the first target area.

4. The method according to claim 1, characterized in that: The method further comprises: If the first target area does not exist, determining whether the number of empty storage locations in the entrance area is higher than a preset empty storage location number threshold corresponding to the entrance area, wherein the entrance area is an area where goods enter the warehouse; If the number of empty storage spaces in the entrance area is higher than a preset empty storage space number threshold corresponding to the entrance area, the entrance area is determined as a second target area for receiving empty vehicles, and the intelligent transport vehicle is controlled to transport the empty vehicles from the source area to the second target area; If the number of empty storage locations in the entrance area is not higher than a preset empty storage location number threshold corresponding to the entrance area, based on the number of empty storage locations in the other storage areas, determining whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition; If the third target area exists, the intelligent transport vehicle is controlled to transport the empty carrier from the source area to the third target area.

5. The method according to claim 4, characterized in that: The determining, based on the number of empty storage locations in the other storage areas, whether there is a third target area in the other storage areas that meets the second vehicle replenishment condition includes: For the storage area with the largest number of empty storage locations among the other storage areas, determining whether the number of empty storage locations in the storage area is higher than a preset empty storage location number threshold corresponding to the storage area; If the number of empty storage spaces in the storage area with the largest number of empty storage spaces is higher than a preset empty storage space number threshold value corresponding to the storage area, the storage area with the largest number of empty storage spaces is determined as the third target area for receiving empty vehicles.

6. The method according to claim 4, characterized in that: There are multiple entrance areas; The determining whether the number of empty storage spaces in the entrance area is higher than a preset empty storage space number threshold corresponding to the entrance area includes: For each entrance area, calculating a fourth ratio between the number of empty storage spaces in the entrance area and a corresponding preset threshold value of the number of empty storage spaces; It is determined whether the number of empty storage locations in the entrance area corresponding to the maximum value in the fourth ratio is higher than a preset threshold value of the number of empty storage locations corresponding to the entrance area.

7. The method according to claim 6, characterized in that: Before determining whether the number of empty storage locations in the entrance area corresponding to the maximum value in the fourth ratio is higher than a preset threshold number of empty storage locations corresponding to the entrance area, the method further includes: For each entrance area, calculating a fifth ratio between the number of empty vehicles in the entrance area and the corresponding preset lower threshold value; When there is a fifth ratio less than 1, determining whether the number of empty storage spaces in the entrance area corresponding to the minimum value in the fifth ratio is higher than a preset threshold value of the number of empty storage spaces corresponding to the entrance area; When there is no fifth ratio less than 1, the step of determining whether the number of empty storage locations in the entrance area corresponding to the maximum value in the fourth ratio is higher than a preset threshold value of the number of empty storage locations corresponding to the entrance area is performed.

8. The method according to claim 2, characterized in that: The method further comprises: If the number of empty storage spaces in the first candidate area is not less than a preset empty storage space number threshold corresponding to the first candidate area, judging whether the entrance area meets the third vehicle replenishment condition based on the number of empty vehicles and the number of empty storage spaces in the entrance area; If the entrance area satisfies the third vehicle replenishment condition, for a storage area having the largest ratio between the number of empty vehicles and the corresponding preset lower threshold, determining whether the number of empty vehicles in the storage area is higher than the preset lower threshold corresponding to the storage area; If the number of empty vehicles in the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest is higher than the preset threshold lower limit corresponding to the storage area, the intelligent transport vehicle is controlled to transport empty vehicles from the storage area where the ratio of the number of empty vehicles to the corresponding preset threshold lower limit is the largest to the entrance area.

9. The method according to claim 8, characterized in that There are multiple entrance areas; The determining whether the entrance area satisfies the third vehicle supplement condition includes: Traversing the plurality of entrance areas according to a preset priority order; Each time an entrance area is traversed, it is determined whether the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold; If the number of empty vehicles in the entrance area is lower than the corresponding preset lower threshold, and the number of empty storage spaces is higher than the corresponding preset empty storage space number threshold, it is determined that the entrance area meets the third vehicle replenishment condition; If not, continue to traverse the next entrance area, and return to the step of traversing each entrance area to determine whether the number of empty vehicles in the entrance area is lower than the corresponding preset threshold lower limit, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold.

10. The method according to claim 8 or 9, characterized in that: After controlling the intelligent transport vehicle to transport the empty carrier from the storage area where the ratio of the number of empty carriers to the corresponding preset threshold lower limit is the largest to the entrance area, the method further includes: Determine whether the number of empty vehicles in the entrance area has not reached the corresponding preset upper threshold value, and whether the number of empty storage spaces in the entrance area is higher than the corresponding preset empty storage space number threshold value; If the number of empty vehicles in the entrance area does not reach the corresponding preset upper threshold value, and the number of empty storage locations in the entrance area is higher than the corresponding preset empty storage location number threshold value, return to the storage area with the largest ratio between the number of empty vehicles and the corresponding preset lower threshold value, and determine whether the number of empty vehicles in the storage area is higher than the corresponding preset lower threshold value of the storage area.

11. The method according to any one of claims 1 to 9, characterized in that: After controlling the intelligent transport vehicle to transport the empty vehicle from the source area to the first target area, the method further includes: Return to the step of obtaining the number of empty storage locations in each storage area in the warehouse until the number of empty storage locations in each storage area is not less than the preset empty storage location number threshold corresponding to the storage area, or the number of returns reaches a preset number of times.

12. The method according to any one of claims 1 to 9, characterized in that: The other storage area is a storage area storing vehicles of the same type as the vehicles stored in the source area.

13. A vehicle dispatching device, characterized in that: The device comprises: An empty storage location number acquisition module is used to acquire the number of empty storage locations in each storage area in the warehouse, wherein the storage area includes a plurality of storage locations, and the storage locations are used to store vehicles; A source area determination module, configured to determine, from each storage area, a storage area to which empty vehicles need to be transferred as a source area according to a size relationship between the number of empty storage locations in each storage area and a corresponding preset threshold value of the number of empty storage locations; A first judgment module, used to judge whether the number of empty vehicles in the source area is higher than a preset threshold lower limit corresponding to the source area; A second judgment module is used to judge whether there is a first target area that meets the first vehicle replenishment condition in other storage areas other than the source area based on the number of empty vehicles and the number of empty storage locations in the other storage areas except the source area when the number of empty vehicles in the source area is higher than the preset threshold lower limit corresponding to the source area; The control module is used to control the intelligent transport vehicle to transport the empty carrier from the source area to the first target area when the first target area exists.

14. A vehicle dispatching system, characterized in that: The system comprises: a control device and an intelligent transport vehicle, wherein: The control device is used to obtain the number of empty storage locations in each storage area in the warehouse; determine the storage area to which empty vehicles need to be transferred from each storage area as the source area according to the size relationship between the number of empty storage locations in each storage area and the corresponding preset threshold value of the number of empty storage locations; judge whether the number of empty vehicles in the source area is higher than the lower limit of the preset threshold value corresponding to the source area; if the number of empty vehicles in the source area is higher than the lower limit of the preset threshold value corresponding to the source area, based on the number of empty vehicles and the number of empty storage locations in other storage areas except the source area, judge whether there is a first target area that meets the first vehicle replenishment condition in the other storage areas; if the first target area exists, send a control instruction to the intelligent transport vehicle, wherein the storage area includes a plurality of storage locations, and the storage locations are used to store vehicles; The intelligent transport vehicle is used to transport the empty vehicle from the source area to the first target area when receiving the control instruction.

15. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-12 when executing a program stored in a memory.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

17. A computer program product comprising instructions, characterized in that When the computer program product is run on a computer, the computer is enabled to execute the method according to any one of claims 1 to 12.

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