Device dispatching method and system, electronic device, and storage medium

Abstract

Embodiments of the present disclosure relate to the technical field of warehousing. Disclosed are a device dispatching method and system, an electronic device, and a storage medium. The method comprises: when a target event affecting task execution has occurred in a warehousing area, acquiring device operation information of a plurality of handling devices and task information to be executed in a plurality of device areas, the device operation information comprising current device areas where respective handling devices among the plurality of handling devices are located; on the basis of the device operation information and / or said task information, determining, from among the plurality of device areas, target device areas associated with respective handling devices; and sending an area update instruction to a handling device, so as to instruct the handling device to reach the associated target device area and execute a handling task in the associated target device area.

Description

Equipment scheduling methods, systems, electronic devices and storage media

[0001] This application claims priority to Chinese Patent Application No. 202411977753.8, filed on December 30, 2024, and Chinese Patent Application No. 202411976134.7, filed on December 30, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The embodiments disclosed herein relate to the field of warehousing technology, specifically to equipment scheduling methods, systems, electronic devices, and storage media. Background Technology

[0003] To improve the efficiency of cargo handling, equipment is used in some large-scale warehousing environments to move goods within the warehouse.

[0004] In this scenario, in order to control the operation of equipment in the warehouse and prevent collisions, global equipment scheduling is required. However, as the number of equipment increases, the amount of computation required for equipment scheduling will increase significantly. Furthermore, since the operation of equipment depends on the actual work situation, when the operating status of a device changes, the operating paths of all equipment need to be replanned, which increases the amount of scheduling computation. Moreover, for the equipment, frequent path updates will greatly reduce the working efficiency of the equipment. Summary of the Invention

[0005] Embodiments of this disclosure provide a device scheduling method, system, electronic device, and storage medium.

[0006] According to a first aspect of the embodiments of this disclosure, a device scheduling method is provided, the method comprising: when a target event affecting task execution occurs in a storage area, acquiring device operation information of a plurality of handling devices associated with the target event, and task information to be executed in a plurality of device areas, the device operation information including the current device area where each of the plurality of handling devices is located, the plurality of device areas including device areas associated with each of the handling devices; determining a target device area associated with each of the handling devices in the plurality of device areas based on the device operation information and / or the task information to be executed; sending a region update instruction to the handling device to instruct the handling device to arrive at the associated target device area, and performing a handling task in the associated target device area.

[0007] According to a second aspect of the embodiments of this disclosure, a device scheduling method is provided, the method comprising: when a first transport device is added to a target roadway and / or a second transport device is removed, acquiring device operation information of a plurality of transport devices to be operated in the target roadway, and task information to be executed in a plurality of device areas in the target roadway; the device operation information includes the current device area where each of the plurality of transport devices is located, the plurality of device areas including the device areas associated with each transport device in the target roadway before the first transport device was added and / or the second transport device was removed; based on the device operation information and / or the task information to be executed, dividing the plurality of device areas into a plurality of target device areas, and determining the target device area associated with each of the transport devices in the plurality of target device areas; when the target device area associated with a target transport device is different from its current device area, sending a first area update instruction to the target transport device; wherein the first area update instruction is used to instruct the establishment of an association between the target transport device and the corresponding target device area, so that the target transport device performs a transport task in its associated target device area, and the target transport device is any one of the plurality of transport devices.

[0008] According to a third aspect of the embodiments of this disclosure, a device scheduling method is provided, the method comprising: acquiring device operation information of a plurality of transport devices, the device operation information including the current device region where each of the plurality of transport devices is located, and an initial device region associated with each of the transport devices, the transport devices being used to perform transport tasks in their associated initial device regions; in the case that there is an obstructing transport device on the path of a third transport device to its associated first initial device region, based on the device operation information, determining a fourth transport device among the obstructing transport devices, and determining a second initial device region associated with the fourth transport device, the third transport device and the fourth transport device being different, the plurality of transport devices including the third transport device and the fourth transport device; establishing an association relationship between the fourth transport device and the first initial device region, and sending a second region update instruction to the fourth transport device, the second region update instruction being used to instruct the fourth transport device to move to the first initial device region to replace the third transport device in performing transport tasks in the first initial device region.

[0009] According to a fourth aspect of the embodiments of this disclosure, a device scheduling system is provided, the system comprising: a plurality of handling devices, the handling devices being configured to perform handling tasks in their associated device areas; a plurality of device areas, the device areas being associated with corresponding handling devices, the plurality of device areas including device areas associated with each of the handling devices; and a control device configured to, in the event of a target event affecting task execution occurring in a storage area, acquire device operation information of the plurality of handling devices associated with the target event, and task information to be executed in the plurality of device areas, the device operation information including the current device area where each of the plurality of handling devices is located; determine a target device area associated with each of the handling devices in the plurality of device areas based on the device operation information and / or the task information to be executed; and send a region update instruction to the handling device to instruct the handling device to arrive at the associated target device area and perform the handling task in the associated target device area.

[0010] According to a fifth aspect of the embodiments of this disclosure, a device scheduling system is provided, the system comprising: at least one lane, the lane including a target lane, the target lane being any one of the at least one lanes, and the target lane including a plurality of device areas, the plurality of device areas including device areas associated with each transport device in the target lane before the addition of a first transport device and / or the removal of a second transport device; a plurality of transport devices, the plurality of transport devices including transport devices to be operated in the target lane when the first transport device is added and / or the second transport device is removed, the transport devices being used to perform transport tasks in their associated device areas; and a control device configured to acquire device operation information of the plurality of transport devices when the first transport device is added and / or the second transport device is removed from the target lane, and The information on tasks to be executed in the multiple equipment areas within the target tunnel, the equipment operation information including the current equipment area where each of the multiple transport devices is located, the multiple equipment areas being re-divided into multiple target equipment areas based on the equipment operation information and / or the information on tasks to be executed, and the target equipment area associated with each transport device being determined within the multiple target equipment areas, and a first area update instruction being sent to the target transport device when the target equipment area associated with the target transport device is different from its current equipment area; the multiple transport devices include the target transport device, and the target transport device is configured to: obtain the first area update instruction, and establish an association between the target transport device and the corresponding target equipment area according to the first area update instruction, so as to perform transport tasks in the target equipment area associated with the target transport device.

[0011] According to a sixth aspect of the embodiments of this disclosure, a device scheduling system is provided, comprising multiple device regions, each device region being associated with a corresponding transport device; multiple transport devices, each transport device being configured to perform transport tasks in its associated device region; a control device configured to acquire device operation information of the multiple transport devices, the device operation information including the current device region where each transport device is located and an initial device region associated with each transport device, the multiple device regions including the current device region and the initial device region; in the case where there is an obstructing transport device on the path of a third transport device to its associated first initial device region, based on the device operation information, determining a fourth transport device among the obstructing transport devices, and determining a second initial device region associated with the fourth transport device; and establishing an association relationship between the fourth transport device and the first initial device region, and sending a second region update instruction to the second transport device; the fourth transport device is different from the third transport device, and the fourth transport device is configured to acquire the second region update instruction and move to the first initial device region according to the second region update instruction, so as to replace the third transport device in performing transport tasks in the first initial device region.

[0012] According to a seventh aspect of an embodiment of the present disclosure, an electronic device is provided, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform operations of the device scheduling method as described above by executing the executable instructions.

[0013] According to an eighth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the device scheduling method as described above. Attached Figure Description

[0014] Figure 1 shows a schematic diagram of an equipment scheduling system provided by some embodiments of the present disclosure;

[0015] Figure 2 shows a schematic diagram of another device scheduling system provided by some embodiments of the present disclosure;

[0016] Figure 3 shows a schematic diagram of the layout of an operating area provided by some embodiments of this disclosure;

[0017] Figure 4 shows a schematic diagram of yet another equipment scheduling system provided by some embodiments of the present disclosure;

[0018] Figure 5 shows a schematic diagram of another operating area layout provided by some embodiments of this disclosure;

[0019] Figure 6 shows a flowchart of a device scheduling method provided in some embodiments of this disclosure;

[0020] Figure 7 shows a flowchart of another device scheduling method provided by some embodiments of this disclosure;

[0021] Figure 8 shows a schematic diagram of a device area provided in some embodiments of the present disclosure;

[0022] Figure 9 shows a schematic diagram of another device area provided in some embodiments of this disclosure;

[0023] Figure 10 shows a schematic diagram of yet another device area provided in some embodiments of the present disclosure;

[0024] Figure 11 shows a sub-flowchart of a device scheduling method provided in some embodiments of this disclosure;

[0025] Figure 12 shows a sub-flowchart of another device scheduling method provided by some embodiments of this disclosure;

[0026] Figure 13 shows a schematic diagram of yet another device area provided in some embodiments of the present disclosure;

[0027] Figure 14 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure;

[0028] Figure 15 shows a schematic diagram of yet another device area provided in some embodiments of the present disclosure;

[0029] Figure 16 shows a schematic diagram of a switching equipment area provided in some embodiments of the present disclosure;

[0030] Figure 17 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure;

[0031] Figure 18 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure;

[0032] Figure 19 shows a flowchart of yet another device scheduling method provided by some embodiments of the present disclosure;

[0033] Figure 20 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure;

[0034] Figure 21 shows a schematic diagram of a device partition provided in some embodiments of the present disclosure;

[0035] Figure 22 shows another schematic diagram of device partitioning provided by some embodiments of the present disclosure;

[0036] Figure 23 shows another schematic diagram of device partitioning provided by some embodiments of the present disclosure;

[0037] Figure 24 shows a sub-flowchart of another device scheduling method provided by some embodiments of this disclosure;

[0038] Figure 25 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure;

[0039] Figure 26 shows a schematic diagram of a region allocation rule provided by some embodiments of this disclosure;

[0040] Figure 27 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure;

[0041] Figure 28 shows another schematic diagram of device partitioning provided by some embodiments of the present disclosure;

[0042] Figure 29 shows a schematic diagram of the structure of an electronic device provided in some embodiments of this disclosure. Detailed Implementation

[0043] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0044] The embodiments of this disclosure first provide an equipment scheduling system that can reduce the computational workload of scheduling and handling equipment and improve the operating efficiency of the handling equipment. The equipment scheduling system provided by the embodiments of this disclosure will now be described in conjunction with the accompanying drawings.

[0045] Figure 1 is a schematic diagram of an equipment scheduling system provided in some embodiments of this disclosure. As shown in Figure 1, the equipment scheduling system 1000 may include multiple equipment areas 1100, multiple handling devices 1200, and a control device 1300.

[0046] Among the multiple equipment areas 1100, each equipment area is associated with a corresponding handling equipment. That is, in a single equipment area, the associated handling equipment only operates and performs tasks within that equipment area.

[0047] Among the multiple handling devices 1200, each can be used to perform handling tasks, such as picking up, placing, and sorting goods, within its associated equipment area. For example, a handling device can move from its location to an associated equipment area to perform a handling task within that area.

[0048] In embodiments of this disclosure, the plurality of handling devices 1200 refers to all handling devices associated with the target event, rather than all handling devices in the storage area.

[0049] For example, when the target event is the addition and / or removal of a transport device in a target roadway, the multiple transport devices include multiple devices that are to be operated in the target roadway; when the target event is the presence of a blocking transport device on the path of the transport device to its associated equipment area, the multiple transport devices include the blocked transport device and all the blocking transport devices.

[0050] In some embodiments, among the plurality of handling devices, each handling device may be a handling device with the same structure or a different structure, and the embodiments of this disclosure do not limit this.

[0051] The control device 1300 is a device or tool for monitoring, operating and adjusting transport equipment and equipment areas, etc. It can be used to control and manage the transport equipment operating in each equipment area. For example, the control device 1300 can obtain the operating information of each transport equipment in multiple transport equipment 1200 and control each transport equipment to move to the corresponding equipment area, thereby performing transport tasks in the corresponding equipment area.

[0052] In some embodiments, the control device 1300 can adjust the association between the handling equipment and the equipment area when a target event occurs in the storage area that affects the execution of the task.

[0053] For example, when a target event affecting task execution occurs in the storage area, the control device 1300 can obtain the equipment operation information of multiple handling devices associated with the target event, as well as the task information to be executed in multiple equipment areas. Based on the equipment operation information and / or task information to be executed, it can determine the target equipment area associated with each handling device in the multiple equipment areas. Then, it can send an area update instruction to the handling device to instruct the handling device to arrive at the associated target equipment area and perform the handling task in the associated target equipment area.

[0054] The equipment operation information includes the current equipment area where each of the multiple handling devices is located. These multiple equipment areas include the equipment areas associated with each of the multiple handling devices.

[0055] A target event refers to an event that affects the transport equipment's performance of transport tasks. It may include adding or removing transport equipment in the target roadway, or the presence of obstructions to transport equipment on the path of the transport equipment to its associated equipment area.

[0056] The pending task information in multiple device areas refers to the data set of pending tasks that are scattered across different device areas and have not yet been executed. It may include the task name, task type, execution time, etc. of the pending tasks in each device area.

[0057] The control device 1300 can re-divide multiple equipment areas into multiple target equipment areas based on equipment operation information and / or task information to be executed, and determine the target equipment area associated with each transport device. Then, the control device 1300 can send an area update command to the transport device. The area update command can include the area location, area identifier, and path to the target equipment area, so that the transport device can reach its associated target equipment area and perform transport tasks in the target equipment area.

[0058] The equipment scheduling system 1000 provided in the embodiments of this disclosure, by triggering regional association updates with target events, enables the control device 1300 to reschedule and plan only the transport equipment and equipment areas in local areas, without affecting the operation of the global transport equipment. Therefore, it can reduce the computational load of scheduling calculations and improve the operating efficiency of transport equipment.

[0059] This disclosure also provides an equipment scheduling system in some embodiments, which can improve the operating efficiency of handling equipment and reduce the computational load of handling equipment scheduling. The equipment scheduling system provided in the embodiments of this disclosure will be described below with reference to the accompanying drawings.

[0060] Figure 2 is a schematic diagram of another equipment scheduling system provided by an embodiment of the present disclosure. As shown in Figure 2, the equipment scheduling system 2000 may include at least one lane 2100, multiple handling devices 2200, and a control device 1300. The target lane 2110 is any one of the at least one lane 2100, and the target lane 2110 includes multiple equipment areas 2120.

[0061] The multiple equipment areas 2120 include the equipment areas associated with each transport device in the target roadway 2110 before the addition of the first transport device and / or the removal of the second transport device. Before the addition of the first transport device and / or the second transport device, each transport device in the target roadway 2110 is used to perform transport tasks in its associated equipment area. The first transport device and the second transport device are any two different transport devices.

[0062] Multiple transport devices 2200 are transport devices that operate within the target roadway 2110 when a first transport device is added and / or a second transport device is removed. These transport devices can be used to perform transport tasks in their associated equipment areas. Each transport device can be a transport device with the same structure or a transport device with different structures; the embodiments of this disclosure do not limit this.

[0063] To illustrate the distribution of equipment areas in the embodiments of this disclosure, Figure 3 shows a schematic diagram of an operating area provided in some embodiments of this disclosure. As shown in Figure 3, the operating area 3000 has multiple lanes 2100, such as target lane 2111, lane 2112, lane 2113, etc. Storage devices such as shelves, boxes, and vehicles can be placed in each lane. Each lane can be divided into different equipment areas, and the number of these equipment areas distributed in each lane is not the same. As shown in Figure 3, target lane 2111 has only one equipment area, while lane 2112 has two equipment areas, namely the areas marked with different colors in lane 2112. Target lane 2111 is any one of the multiple lanes 2100.

[0064] The control device 1300 is a device or tool used to monitor, operate and adjust the handling equipment and equipment area, etc. It can be used to control and manage the handling equipment operating in the roadway. For example, the control device 1300 can obtain the operating information of each handling equipment in multiple handling equipment 2200 and control each handling equipment to move to the corresponding equipment area, thereby performing handling tasks in the corresponding equipment area.

[0065] In some embodiments, the control device 1300 can set and adjust the association between equipment areas and multiple transport devices 2200 in multiple lanes 2110. For example, the control device 1300 can assign each endpoint area to a different transport device based on the start and end areas of multiple tasks to be performed, so that the transport devices can perform transport tasks in the endpoint areas. Furthermore, to reduce the frequency of transport device movement, all tasks within the endpoint area can be assigned to the transport devices within that area for execution.

[0066] Correspondingly, in order to improve the operating efficiency of the handling equipment, each handling equipment can move to another area only when there is a change in area affiliation. That is, each handling equipment can perform handling tasks in its corresponding equipment area. The control device 1300 can monitor the task status of all pending tasks and determine whether an area update is needed. If so, it can control the corresponding handling equipment to move from one equipment area to another equipment area, thereby performing the handling task in the arrived equipment area.

[0067] In some embodiments, in the equipment scheduling system 2000 shown in FIG2, the control device 1300 may, when adding a first transport device and / or removing a second transport device in the target lane 2110, acquire equipment operation information of multiple transport devices 2200 to be operated in the target lane 2110, as well as task information to be executed in multiple equipment areas 2120 in the target lane 2110. Based on the equipment operation information and / or task information to be executed, the multiple equipment areas 2120 are divided into multiple target equipment areas, and the target equipment area associated with each transport device is determined in the multiple target equipment areas. In this case, if the target equipment area associated with the target transport device is different from its current equipment area, a first area update instruction is sent to the target transport device.

[0068] The equipment operation information includes the current equipment area of ​​each of the multiple transport devices 2200, and the multiple equipment areas 2120 include the equipment areas associated with each transport device in the target roadway before the first transport device is added and / or the second transport device is removed.

[0069] In some embodiments, in the device scheduling system 2000 shown in FIG2, a plurality of handling devices 2200 include a target handling device, and the target handling device can obtain a first area update instruction and establish an association relationship between the target handling device and the corresponding target device area according to the first area update instruction, so as to perform handling tasks in the target device area associated with the target handling device.

[0070] Therefore, when adding or removing transport equipment in a roadway, the equipment scheduling system 2000 can re-divide the equipment area in the roadway to obtain multiple target equipment areas. Then, it can schedule each transport equipment to establish an association with the corresponding target equipment area, so that each transport equipment can perform transport tasks in its associated target equipment area. This can reduce the waiting time caused by the transport equipment being blocked, improve the execution efficiency of the task, and the scheduling process only involves some transport equipment and will not affect other transport equipment traveling in the operating area, thus improving the overall operating efficiency of the transport equipment.

[0071] Therefore, the equipment scheduling system 2000 provided based on the embodiments of this disclosure can realize partial equipment scheduling based on the equipment operating status, reduce interference with the operation of global handling equipment, improve the overall operating efficiency of handling equipment, and greatly reduce the amount of calculation in the scheduling process, thus also improving the efficiency of scheduling handling equipment.

[0072] Embodiments of this disclosure also provide an equipment scheduling system that can improve the operating efficiency of handling equipment and reduce the computational load of handling equipment scheduling. The equipment scheduling system provided by the embodiments of this disclosure will be described below with reference to the accompanying drawings.

[0073] Figure 4 is a schematic diagram of another equipment scheduling system provided in some embodiments of this disclosure. As shown in Figure 4, the equipment scheduling system 4000 may include multiple equipment areas 4110, a control device 1300, and multiple handling devices 4130.

[0074] In this system, among the multiple device areas 4110, each device area can be associated with a corresponding transport device; that is, a transport device operates and performs transport tasks within its associated device area. For example, a transport device may operate only in one device area to perform transport tasks within that area. If an area update is required, the transport device can move from one device area to another within the multiple device areas 4110. In special cases, a transport device may operate in multiple device areas 4110 to perform transport tasks from one device area to another.

[0075] Multiple handling devices 4130 refer to devices that perform handling tasks in multiple equipment areas 4110. Each handling device can be used to perform handling tasks such as picking up, placing, and sorting goods in its associated equipment area. The handling devices can be handling devices with the same structure or handling devices with different structures; the embodiments of this disclosure do not limit this.

[0076] In some embodiments, multiple handling devices 4130 may operate in multiple lanes, each lane including at least one of multiple device areas 4110. That is, multiple lanes include multiple device areas 4110, which are distributed across the multiple lanes in which the multiple handling devices 4130 operate. The number of device areas distributed in each lane may be the same or different; that is, a lane may include only one of the multiple device areas 4110, or it may include multiple areas from the multiple device areas 4110.

[0077] To illustrate the distribution of equipment areas in the embodiments of this disclosure, Figure 5 shows a schematic diagram of another operating area provided in some embodiments of this disclosure. As shown in Figure 5, the operating area 5000 has multiple lanes, such as lanes 211 and 212. Shelves, boxes, vehicles and other devices for storing goods can be placed between each lane. The multiple lanes can be divided into different equipment areas, and the number of these equipment areas distributed in each lane is not the same. As shown in Figure 5, there is only one equipment area in lane 211 and two equipment areas in lane 212, namely the areas marked with different colors in lane 212.

[0078] The control device 1300 is a device or tool used to monitor, operate and adjust the handling equipment and equipment areas, etc. It can be used to control and manage the handling equipment operating in each equipment area. For example, the control device 1300 can obtain the operating information of each handling equipment in multiple handling equipment 4130 and control each handling equipment to move to the corresponding equipment area, thereby performing handling tasks in the corresponding equipment area.

[0079] In some embodiments, the control device 1300 can set and adjust the correspondence between multiple device areas 4110 and multiple transport devices 4130. For example, the control device 1300 can assign each endpoint area to a different transport device based on the start and end areas of multiple tasks to be performed, so that the transport devices can perform transport tasks in the endpoint areas. In addition, in order to reduce the movement frequency of the transport devices, all tasks in the endpoint area can be assigned to the transport devices in that area for execution.

[0080] Correspondingly, in order to improve the operating efficiency of the handling equipment, each handling equipment can move to another area only when there is a change in area affiliation. That is, each handling equipment can perform handling tasks in its corresponding equipment area. The control device 1300 can monitor the task status of all pending tasks and determine whether an area update is needed. If so, it can control the corresponding handling equipment to move from one equipment area to another equipment area, thereby performing the handling task in the arrived equipment area.

[0081] In some embodiments, a high-speed channel can be provided around the perimeter of multiple lanes to allow transport equipment to travel in the multiple lanes. For example, when transport equipment travels from one equipment area to another equipment area, it can travel directly along the lane to the other equipment area if the two equipment areas are located in the same lane, or from the lane to the other equipment area if the two equipment areas are located in different lanes.

[0082] In some embodiments, the control device 1300 can acquire equipment operation information of multiple handling devices 4130; if there is a blocking handling device on the path of the third handling device to its associated first initial equipment area, based on the equipment operation information, a fourth handling device is determined among the multiple handling devices 4130, and the second initial equipment area associated with the fourth handling device is determined, then the association relationship between the fourth handling device and the first initial equipment area is established, and a second area update instruction is sent to the fourth handling device.

[0083] The equipment operation information may include the current equipment area where each of the multiple handling devices 4130 is located, and the initial equipment area associated with each handling device. The multiple equipment areas 4110 include the current equipment area and the initial equipment area, that is, the current equipment area and the initial equipment area can be any area among the multiple equipment areas 4110. The third handling device and the fourth handling device are different, and can be any two of the multiple handling devices 4130.

[0084] In some embodiments, among the multiple handling devices 4130, each handling device may be equipped with sensors, cameras, etc., capable of collecting environmental data within its respective device area. For example, when each handling device is operating in its corresponding device area, it can collect environmental data in the alleyway where the device area is located in real time and report it to the device scheduling system 4000. The device scheduling system 4000 can determine whether each handling device is blocked based on the data reported by all handling devices. If so, it can trigger the operation of re-dividing the target device area.

[0085] In some embodiments, the fourth transport device can be configured to receive a second region update instruction and move to the first initial device region according to the second region update instruction, thereby replacing the third transport device in performing transport tasks in the first initial device region. Thus, the transport tasks to be performed by the third transport device can be performed by the fourth transport device, reducing the waiting time caused by the third transport device being blocked, improving task execution efficiency, and since this scheduling process only relates to the third and fourth transport devices and does not affect the operation of other transport devices, it can improve the overall operating efficiency of the transport devices.

[0086] In order to assign an associated equipment area to the third transport device, in some embodiments, the control device may also establish an association between the third transport device and the second initial equipment area and send a third area update instruction to the third transport device if there are no other transport devices besides the fourth transport device in the blocking transport device.

[0087] The third transport device can obtain the third area update instruction and move to the second initial device area according to the third area update instruction, so as to replace the fourth transport device in performing the transport task in the second initial device area.

[0088] In this way, even when there are no other transport devices besides the fourth transport device in the blocking transport equipment, the second initial equipment area can be assigned to the third transport device, which can then travel to the second initial equipment area to perform the transport task in place of the fourth transport device. This enables the equipment area update of the transport equipment and improves the operating efficiency of the transport equipment.

[0089] In some embodiments, if there are other transport devices besides the fourth transport device in the blocking transport device, the control device may, based on the equipment operation information of the third transport device and the other transport devices, determine the third initial equipment area associated with the third transport device and the fourth initial equipment area associated with the other transport devices, and send a fourth area update instruction to the third transport device and a fifth area update instruction to the other transport devices.

[0090] For example, if there are other transport devices besides the fourth transport device in the blocking transport device, the associated device area can be redefined for the other transport devices and the third transport device. For example, the device area closest to the current device area of ​​the third transport device can be determined as the third initial device area in the associated device area of ​​the other transport devices, and an associated device area can be reselected for the other transport devices as the fourth initial device area to realize the device area update of multiple transport devices.

[0091] In some embodiments, a third handling device may receive a fourth area update instruction and move to a third initial device area according to the fourth area update instruction to perform a handling task in the third initial device area. Other handling devices may receive a fifth area update instruction and move to a fourth initial device area according to the fifth area update instruction to perform a handling task in the fourth initial device area. Multiple handling devices include other handling devices.

[0092] This method allows for the redistribution of equipment areas along the transport equipment's path based on whether the equipment is obstructed during operation, thereby improving the overall operating efficiency of the transport equipment.

[0093] The equipment scheduling system 4000 provided in the embodiments of this disclosure can realize partial equipment scheduling based on real-time operating status, reduce interference with the operation of global handling equipment, improve the overall operating efficiency of handling equipment, and greatly reduce the amount of calculation in the scheduling process, thus also improving the efficiency of scheduling handling equipment.

[0094] Some embodiments of this disclosure also provide an equipment scheduling method, which can be executed by the control device 1300 shown in FIG1. ​​The method enables the device to obtain equipment operation information of multiple handling devices associated with the target event and task information to be executed in multiple equipment areas when a target event affecting task execution occurs in the storage area. Based on the equipment operation information and / or task information to be executed, the method determines the target equipment area associated with each handling device in the multiple equipment areas; sends an area update instruction to the handling device to instruct the handling device to arrive at the associated target equipment area and perform the handling task in the associated target equipment area.

[0095] Figure 6 shows a flowchart of a device scheduling method provided in some embodiments of this disclosure. As shown in Figure 6, the method may include steps 610 to 630:

[0096] Step 610: In the event that a target event affecting task execution occurs in the storage area, obtain the equipment operation information of multiple handling equipment associated with the target event, as well as the task information to be executed in multiple equipment areas.

[0097] The equipment operation information includes the current equipment area of ​​each of the multiple transport devices. Target events refer to events that affect the transport devices' performance of transport tasks, and may include adding and / or removing transport devices in the target roadway, or the presence of obstructing transport devices on the path of a transport device to its associated equipment area.

[0098] Multiple handling equipment includes all handling equipment associated with the target event. Depending on the type of the target event, multiple equipment areas may include different equipment areas.

[0099] In some embodiments, where the target event is the addition of a first transport device and / or the removal of a second transport device within a target roadway, the plurality of transport devices may include a plurality of devices scheduled to travel within the target roadway, and the plurality of device areas may include the device areas associated with each transport device within the target roadway prior to the addition of the first transport device and / or the removal of the second transport device. The first transport device and the second transport device are any two different transport devices.

[0100] In some embodiments, before dispatching a transport device, the transport device may have an associated initial device area. The transport device can reach the associated initial device area and perform transport tasks in that initial device area. Therefore, the device operation information may also include the initial device area associated with each of the multiple transport devices, and the multiple device areas may include the initial device area.

[0101] In some embodiments, where the target event is any transport device, such as a third transport device, and there is a blocking transport device on the path to its associated first initial device area, the plurality of transport devices may include the third transport device and all the blocking transport devices, and the plurality of device areas may include the initial device area associated with each of the plurality of transport devices.

[0102] In the event of a target event affecting task execution occurring in the storage area, the control device can acquire equipment operation information from multiple handling devices, as well as information on tasks to be executed in multiple device areas. For example, sensors and cameras can be installed on the handling devices to collect environmental data within their area. This collected environmental data is then transmitted to the control device via a communication connection, and the operating status of the handling devices, such as their current location within their designated device area, is determined.

[0103] In some embodiments, the device scheduling system 1000 shown in FIG1 can obtain information on tasks to be executed in multiple device areas from the task scheduling system through corresponding data interfaces.

[0104] By acquiring the equipment operation information of multiple handling devices associated with the target event, as well as the task information to be executed in multiple equipment areas, it is possible to monitor the operation of the handling devices associated with the target event and the task execution status in the equipment areas, which facilitates the subsequent scheduling of each handling device.

[0105] Step 620: Based on equipment operation information and / or task information to be performed, determine the target equipment area associated with each handling device in multiple equipment areas.

[0106] In some embodiments, the equipment scheduling system 1000 shown in FIG1 can re-divide multiple equipment areas into multiple target equipment areas according to equipment operation information and / or task information to be executed, and determine the target equipment area associated with each handling equipment in the multiple target equipment areas, so that the multiple target equipment areas obtained after re-division are adapted to the multiple handling equipment to meet the needs of task execution.

[0107] In some embodiments, the equipment scheduling system 1000 shown in FIG1 may also determine the blocking transport device of the third transport device based on the equipment operation information, determine the fourth transport device among the blocking transport devices, determine the second initial equipment area associated with the fourth transport device, and then determine the first initial equipment area associated with the first transport device as the target equipment area associated with the fourth transport device.

[0108] Step 630: Send an area update instruction to the transport equipment to instruct the transport equipment to arrive at the associated target equipment area and perform the transport task in the associated target equipment area.

[0109] In some embodiments, the control device may send a first region update instruction to the target transport device if the target device region associated with the target transport device is different from the current device region in which it is located.

[0110] The first area update instruction is used to instruct the establishment of an association between the target handling device and the corresponding target device area, so that the target handling device can perform handling tasks in its associated target device area. The target handling device can be any one of multiple handling devices.

[0111] In some embodiments, the control device may also establish an association between the fourth transport device and the first initial device area, and send a second area update command to the fourth transport device.

[0112] The second area update instruction is used to instruct the fourth handling device to move to the first initial equipment area to replace the third handling device in performing the handling task in the first initial equipment area.

[0113] Through steps 610 to 630 above, the relationship between the handling equipment and the equipment area can be adjusted under the triggering of the target event. This adjustment process is only related to some handling equipment and some equipment areas and will not affect the operation of the global handling equipment. Therefore, the scheduling calculation is less, the scheduling efficiency is higher, and the operating efficiency of the global handling equipment can also be improved.

[0114] Some embodiments of this disclosure also provide an equipment scheduling method. This method can be executed by the control device 1300 in the equipment scheduling system 2000 (hereinafter referred to as the equipment scheduling system). When a first transport device is added to the target roadway and / or a second transport device is removed, the system can obtain the equipment operation information of multiple transport devices to be operated in the target roadway, as well as the task information to be executed in multiple equipment areas in the target roadway. Based on the equipment operation information and / or task information to be executed, the system divides the multiple equipment areas into multiple target equipment areas, and determines the target equipment area associated with each transport device in the multiple target equipment areas. When the target equipment area associated with a target transport device is different from its current equipment area, the system sends a first area update instruction to the target transport device to establish the association between the target transport device and the corresponding target equipment area, so that the target transport device can perform transport tasks in its associated target equipment area. This method can update the area of ​​local transport devices, thereby improving the overall operating efficiency of the transport devices and reducing the scheduling computation load.

[0115] Figure 7 shows a flowchart of another device scheduling method provided by some embodiments of the present disclosure. As shown in Figure 7, step 610 in the device scheduling method in Figure 6 may include step 710, step 620 may include step 720, and step 630 may include step 730.

[0116] Step 710: When a first transport device is added to the target roadway and / or a second transport device is removed, obtain the equipment operation information of multiple transport devices that are to be operated in the target roadway, as well as the task information to be executed in multiple equipment areas in the target roadway.

[0117] The equipment operation information includes the current equipment area of ​​each of the multiple transport devices. These multiple equipment areas include the equipment areas associated with each transport device in the target roadway before the addition of the first transport device and / or the removal of the second transport device. For example, before transport device C is added to the target roadway, there are two transport devices in the target roadway, namely transport device A and transport device B. Transport device A is associated with equipment area 1, and transport device B is associated with equipment area 2. In this case, the multiple equipment areas are equipment area 1 and equipment area 2.

[0118] Pending task information refers to the task information of handling tasks waiting to be executed in multiple equipment areas. It can include information such as the amount of tasks waiting to be executed in each equipment area and the task name.

[0119] In the embodiments of this disclosure, the equipment area can be the area where the transport equipment travels and performs transport tasks. The transport equipment and the equipment area are associated, that is, a transport equipment mainly operates in its associated equipment area, and only moves to multiple equipment areas when it needs to update its home area, or when the equipment area where the issued task to be performed is located is different from its home equipment area.

[0120] During task execution, the equipment scheduling system can determine whether to add or remove transport equipment in the target roadway based on the amount of tasks to be performed in each roadway and the operating status of all transport equipment. For example, if it is determined that the amount of tasks to be performed in the target roadway is greater than the task amount threshold, the transport equipment that is idle in the operating area is identified as the first transport equipment, and the first transport equipment is scheduled to arrive at the target roadway and enter the target roadway to perform the transport task.

[0121] For example, if the amount of tasks to be performed in the target roadway is less than or equal to the task volume threshold, any one of the transport devices in the target roadway can be designated as the second transport device, moved out of the target roadway, and dispatched to other roadways to perform transport tasks in those other roadways. The task volume threshold can be customized based on the amount of tasks to be performed in each roadway within the operating area; the embodiments of this disclosure do not impose specific limitations on this.

[0122] When a first handling device is added to the target roadway and / or a second handling device is removed, the equipment scheduling system can obtain the equipment operation information of multiple handling devices that are scheduled to operate in the target roadway and the information of tasks to be executed in multiple equipment areas within the target roadway.

[0123] For example, sensors and cameras can be installed on each transport device to collect location and environmental data within its area. The equipment scheduling system can obtain this data through communication with the transport devices and determine their operating status, such as their current location within a specific area. In some examples, the equipment scheduling system can assign tasks to the transport devices, thus enabling it to obtain task information for multiple areas within the target tunnel.

[0124] By acquiring the equipment operation information of multiple transport devices operating in the target roadway and the task information to be executed in multiple equipment areas within the target roadway, it is possible to monitor the operation of each transport device operating in the target roadway and the task execution status in the equipment areas, thus facilitating the scheduling of each transport device.

[0125] Step 720: Based on equipment operation information and / or task information to be executed, divide multiple equipment areas into multiple target equipment areas, and determine the target equipment area associated with each handling device in the multiple target equipment areas.

[0126] To improve task execution efficiency, the equipment scheduling system can divide multiple equipment areas into multiple target equipment areas, and determine the target equipment areas associated with each handling equipment within these target equipment areas. This ensures that the multiple target equipment areas obtained after the re-division are compatible with the multiple handling equipment, thereby meeting the needs of task execution.

[0127] In some embodiments, the equipment operation information may include equipment information for each of the multiple handling devices, wherein the equipment information may include the equipment name, identifier, etc., of each of the multiple handling devices. When multiple equipment areas are divided into multiple target equipment areas based on equipment operation information and / or task information to be executed, the equipment scheduling system may perform the following methods:

[0128] Based on equipment information and the number of multiple handling devices, multiple equipment areas are divided into multiple target equipment areas so that the number of target equipment areas matches the number of devices.

[0129] In some embodiments, based on equipment information, it can be determined which devices are included in the multiple handling devices, whether any handling devices are added or removed (i.e., whether a first handling device is added, whether a second handling device is removed, etc.), and then, based on the number of devices, the multiple device areas are divided into multiple target device areas, such that the number of target device areas matches the number of devices. For example, based on the number of devices, the multiple device areas can be divided into multiple target device areas equal to the number of devices, so as to achieve the purpose of allocating a corresponding target device area for each of the multiple handling devices.

[0130] For example, multiple equipment areas can also be divided into multiple target equipment areas based on the number of devices, where the number of areas is less than the number of devices. For instance, if one area corresponds to N handling devices (N is an integer greater than 0), the multiple equipment areas can be divided into M / N target equipment areas, where M is the number of handling devices. Taking an area with 2 handling devices and a total of 10 handling devices as an example, the multiple equipment areas can be divided into 5 target equipment areas.

[0131] In some embodiments, where the equipment information indicates that multiple handling devices include a first handling device and the original handling device in the target roadway, the multiple equipment areas can be divided into multiple target equipment areas based on the number of devices. These multiple target equipment areas include the target equipment area associated with the first handling device and the target equipment areas associated with the original handling devices in the target roadway.

[0132] Figure 8 shows a schematic diagram of an equipment area provided in some embodiments of this disclosure. As shown in Figure 8, before the addition of the first transport device, i.e., transport device C, there are two transport devices in the target roadway, i.e., transport device A and transport device B, and two equipment areas, i.e., equipment area 1 and equipment area 2. Transport device A operates in equipment area 1, and transport device B operates in equipment area 2. After the addition of the first transport device, i.e., transport device C, there are three transport devices in the target roadway, i.e., transport device A, transport device B, and transport device C, and three target equipment areas, i.e., equipment area 1', equipment area 2', and equipment area 3'.

[0133] This method allows for the re-division of multiple equipment areas within the target roadway when a first transport device is added, thereby increasing the number of equipment areas within the target roadway.

[0134] In some embodiments, where the equipment information indicates that multiple handling devices include other handling devices besides the second handling device among the original handling devices in the target roadway, the multiple equipment areas are divided into multiple target equipment areas based on the number of devices. These multiple target equipment areas include target equipment areas associated with other handling devices respectively.

[0135] When the second transport equipment is removed from the target roadway, the number of transport equipment in the target roadway decreases. At this time, multiple equipment areas can be re-divided according to the number of equipment, so that the number of target equipment areas obtained by re-division is less than the number of equipment areas.

[0136] Figure 9 illustrates a schematic diagram of another equipment area provided in some embodiments of this disclosure. As shown in Figure 9, before the second transport device, i.e., transport device F, is removed, there are three transport devices in the target tunnel, i.e., transport device D, transport device E, and transport device F, and three equipment areas, i.e., equipment area 3, equipment area 4, and equipment area 5. Transport device D operates in equipment area 3, transport device E operates in equipment area 4, and transport device F operates in equipment area 5. After the second transport device, i.e., transport device F, is removed, there are two transport devices in the target tunnel, i.e., transport device D and transport device E, and two target equipment areas, i.e., equipment area 3' and equipment area 4'.

[0137] This method allows for the re-division of multiple equipment areas within the target roadway when the second transport device is removed, thereby reducing the number of equipment areas within the target roadway.

[0138] In some embodiments, where the equipment information indicates that multiple handling devices include a first handling device and other handling devices other than the second handling device among the original handling devices in the target lane, the multiple equipment areas are divided into multiple target equipment areas based on the number of devices.

[0139] Among them, multiple target equipment areas include the target equipment area associated with the first handling equipment and the target equipment areas associated with other handling equipment respectively.

[0140] When both the first transport equipment and the second transport equipment are added and removed from the target roadway, multiple equipment areas can be divided into multiple target equipment areas based on the number of equipment of the multiple transport equipment, so as to realize the re-division of equipment areas, allocate target equipment areas for the first transport equipment, and release the equipment areas associated with the second transport equipment.

[0141] In some embodiments, a device region may include at least one region unit, and the task information to be executed may include the amount of tasks to be executed corresponding to each region unit in each device region. When multiple device regions are divided into multiple target device regions based on device operation information and / or task information to be executed, the device scheduling system may also perform the following method:

[0142] Based on the amount of tasks to be executed corresponding to each regional unit in each device region, multiple device regions are divided into multiple target device regions.

[0143] In this context, the regional units within the target device region are continuous, and the difference in the number of tasks to be executed between any two target device regions is less than a preset threshold. The number of tasks to be executed for each target device region can be obtained by summing the number of tasks to be executed for each regional unit within the target device region.

[0144] When transport equipment is added to or removed from the target roadway, the number of transport equipment in the target roadway may change. In order to balance the amount of tasks to be performed in each equipment area, for example, the amount of tasks to be performed corresponding to each area unit in each equipment area can be determined according to the task information to be performed, and the multiple equipment areas can be divided into multiple target equipment areas, so that the difference in the amount of tasks to be performed corresponding to each target equipment area after the re-division is minimized, so that the transport equipment can efficiently complete the tasks to be performed.

[0145] Figure 10 shows a schematic diagram of another equipment area provided by some embodiments of the present disclosure. As shown in Figure 10, before adding the first transport equipment, namely transport equipment C, there are two transport equipment, namely transport equipment A and transport equipment B, and two equipment areas, namely equipment area 1 and equipment area 2, in the target roadway. Each of the two equipment areas includes three area units. The number of tasks to be executed corresponding to each area unit in equipment area 1 is 75, 25, and 25, respectively. The number of tasks to be executed corresponding to each area unit in equipment area 2 is 25, 50, and 25, respectively.

[0146] After adding the first transport equipment, namely transport equipment C, there are three transport equipment in the target roadway: transport equipment A, transport equipment B, and transport equipment C, and three target equipment areas: equipment area 1', equipment area 2', and equipment area 3'. Equipment area 1' comprises one area unit with a task quantity of 75; equipment area 2' comprises three area units with task quantities of 25, 25, and 25 respectively; and equipment area 3' comprises two area units with task quantities of 50 and 25 respectively. It can be seen that in the multiple target equipment areas obtained by re-dividing the equipment areas—equipment area 1', equipment area 2', and equipment area 3'—the task quantity for each target equipment area is 75.

[0147] Therefore, this method can be used to re-divide multiple equipment areas in the target roadway when adding or removing transport equipment, so as to balance the amount of tasks to be performed among the re-dividated target equipment areas.

[0148] Step 730: If the target device region associated with the target handling device is different from its current device region, send a first region update command to the target handling device.

[0149] The first area update instruction is used to instruct the establishment of an association between the target handling device and the corresponding target device area, so that the target handling device can perform handling tasks in its associated target device area. The target handling device can be any one of multiple handling devices.

[0150] Through steps 710 to 730 above, when adding or removing transport equipment in the target roadway, the equipment area in the target roadway can be re-divided and the association between the transport equipment and the equipment area can be updated, so that the transport equipment can reach its associated target equipment area to perform transport tasks. This realizes the scheduling of equipment in a local area, improves the operating efficiency of the transport equipment, and reduces the scheduling difficulty.

[0151] Furthermore, in order to determine the optimal equipment area partitioning scheme, in some embodiments, Figure 11 shows a sub-flowchart of an equipment scheduling method provided by some embodiments of this disclosure. Referring to Figure 11, step 720 can be implemented by the following steps 1110 to 1140:

[0152] Step 1110: Based on the number of multiple handling devices, divide the multiple device areas into a first device area set including multiple first device areas, and establish a first association relationship between the multiple handling devices and the multiple first device areas.

[0153] The first association relationship is used to indicate the first equipment area associated with each handling equipment.

[0154] For example, based on the number of multiple handling devices, multiple device areas can be divided into multiple first device areas with the same number of devices. These multiple first device areas constitute a first device area set. For instance, assuming the number of multiple handling devices is 10, the first device area set includes 10 first device areas. Then, the association between the multiple handling devices and the multiple first device areas can be established. For example, based on the current device area where the multiple handling devices are located, the first device area closest to the handling device can be determined as the first device area associated with that handling device. Any two handling devices can be associated with different first device areas.

[0155] Step 1120: Based on the preset area update rules, the first equipment area set and the first association relationship, determine the second equipment area set including multiple second equipment areas, and establish the second association relationship between multiple handling devices and multiple second equipment areas.

[0156] The second association relationship is used to indicate the second equipment area associated with each handling device. The number of areas in the multiple second equipment areas is the same as the number of devices. The preset area update rule refers to the pre-configured rule for determining new equipment areas. For example, it can be set by the operator as a corresponding operator structure.

[0157] For example, one or more first device regions in the first device region set can be updated according to a preset region update rule to determine that multiple second device regions with the same number of regions constitute a second device region set. Then, based on the distance between the transport device and each second device region, the second device region closest to the transport device is assigned to that transport device to establish a second association relationship. In this process, the second device regions associated with any two transport devices are also different.

[0158] Step 1130: Based on the device operation information and the task information to be executed, determine the first region update cost corresponding to the first association and the second region update cost corresponding to the second association. Based on the first region update cost and the second region update cost, iteratively update the first device region set and the first association until the iteration end condition is met, and obtain the updated first device region set and the updated first association.

[0159] The region update cost can be used to evaluate the costs associated with different relationships. For example, based on the relationship, it can determine the time and distance required for each handling device to reach its associated device region, and thus determine the region update cost corresponding to that relationship. Iteration termination conditions can include the number of iterations, the fact that the device region set and relationships remain unchanged after multiple iterations, etc.

[0160] Based on the update cost of the first region and the update cost of the second region, the association with the lower cost can be selected. The association with the lower cost and its corresponding device region set are determined as the new first association and the new device region set. That is, the first device region set and the first association are iteratively updated until the iteration end condition is met.

[0161] Step 1140: Based on the updated first device area set, determine multiple target device areas, and based on the updated first association relationship, determine the target device area associated with each handling device.

[0162] For example, if the updated first device area set includes transport devices A, B and C, and the updated first association is: transport device A is associated with device area 2, transport device B is associated with device area 1, and transport device C is associated with device area 3, then it means that the target device area associated with transport device A is device area 2, the target device area associated with transport device B is device area 1, and the target device area associated with transport device C is device area 3.

[0163] Through steps 1110 to 1140 above, the cost of the equipment area division scheme can be comprehensively evaluated by iteratively updating the first equipment area set and the first association relationship, thereby determining the optimal equipment area division scheme.

[0164] In some embodiments, the equipment area includes multiple area units. In step 1110, in order to obtain a first equipment area set, the area units in the multiple equipment areas can be divided based on the number of multiple handling devices to obtain multiple first equipment areas. Then, each first equipment area is assigned to the corresponding handling device to establish a first association relationship between the multiple handling devices and the multiple first equipment areas.

[0165] The first equipment area includes at least one area unit, and the area units within the first equipment area are continuous.

[0166] For example, for multiple handling devices with a total of 3 devices, the area units in the multiple device areas can be divided into multiple first device areas with the same number, that is, divided into 3 first device areas. Then, each first device area can be assigned to the corresponding handling device to establish a first association relationship. For example, according to the distance between the handling device and the first device area, the first device area closest to the handling device can be assigned to that handling device.

[0167] In this way, multiple equipment areas can be divided into regional units, achieving a more refined regional division and providing support for determining the optimal regional division and allocation scheme.

[0168] In some embodiments, the device area may include multiple area units, and the preset area update rule may include at least one of the first unit transmission rule, the second unit transmission rule, and the area exchange rule. Before step 1120, the rule with the highest usage probability among the first unit transmission rule, the second unit transmission rule, and the area exchange rule may be determined as the target rule based on the first usage probability of the first unit transmission rule, the second usage probability of the second unit transmission rule, and the third usage probability of the area exchange rule.

[0169] The sum of the probabilities of the first, second, and third use probabilities is 1. The probability values ​​of the first, second, and third use probabilities can be preset by the operator according to actual needs; for example, the first use probability can be 0.3, the second use probability can be 0.5, and the third use probability can be 0.2.

[0170] Therefore, in step 1120, a second set of equipment regions including multiple second equipment regions can be determined based on the target rules, the first set of equipment regions, and the first association relationship, and a second association relationship between multiple handling devices and multiple second equipment regions can be established.

[0171] By identifying the rule with the highest probability of use among the first unit transfer rule, the second unit transfer rule, and the area exchange rule as the target rule, it is possible to determine which method to use to determine the second device area, thereby improving the efficiency of updating the device area.

[0172] Figure 12 shows a sub-flowchart of another equipment scheduling method provided in some embodiments of this disclosure. Referring to Figure 12, the equipment scheduling system can perform the following steps 1210 to 1220:

[0173] Step 1210: When the target rule is the first unit transfer rule, based on the first unit transfer rule, the number of regional units in each first device region and the positional relationship of each first device region, the last regional unit in the previous first device region of any two adjacent first device regions is transferred to the next first device region along the first transfer direction to obtain the second device region set.

[0174] The number of area units in the preceding first device area is greater than 1. The first transfer direction can be a forward transfer direction or a backward transfer direction.

[0175] For example, Figure 13 shows a schematic diagram of another device region provided by some embodiments of the present disclosure. As shown in Figure 13, assuming that the first device region set includes three first device regions, namely preArea, cArea, and nextArea as shown in Figure 13, the last region unit in the previous first device region can be divided into the next first device region along the first transmission direction in any two adjacent first device regions according to the first unit transmission rule and the positional relationship of each first device region. For example, in preArea and cArea, the leftmost region unit in cArea can be divided into preArea according to the forward transmission direction of the region unit, thereby obtaining multiple second device regions as shown in Figure 13, namely preArea', cArea', and nextArea', which constitute the second device region set.

[0176] Step 1220: Assign each second equipment area to the corresponding handling equipment to establish a second association between multiple handling equipment and multiple second equipment areas.

[0177] After obtaining the second set of equipment areas, each second equipment area can be assigned to a corresponding handling device to establish a second association. For example, based on distance, the second equipment area closest to a handling device can be assigned to that handling device. During this process, the same second equipment area will not be assigned to the same handling device.

[0178] Using the above method, the second set of device regions and the second association relationship can be determined based on the first unit transfer rules and the positional relationship of each first device region. That is, the second set of device regions is determined based on the first set of device regions. Moreover, the regional unit search granularity brought about by the first unit transfer rules is finer, which helps to determine the optimal region allocation scheme in the future.

[0179] Figure 14 shows a sub-flowchart of another equipment scheduling method provided in some embodiments of this disclosure. Referring to Figure 14, the equipment scheduling system can also perform the following steps 1410 to 1420:

[0180] Step 1410: When the target rule is the second unit transfer rule, based on the second unit transfer rule, the number of regional units in each first device region and the positional relationship of each first device region, the last regional unit in the previous first device region is divided into the next first device region along the second transfer direction until the processing of all first device regions is completed, and the second device region set is obtained.

[0181] Among them, the number of area units in the first device area is greater than 1.

[0182] For example, Figure 15 shows a schematic diagram of another device region provided by some embodiments of the present disclosure. As shown in Figure 15, assuming that the first device region set includes three first device regions, namely cArea, nextArea, and nextnextArea as shown in Figure 15, the last region unit in the previous first device region can be divided into the next first device region along the second transmission direction according to the second unit transfer rule and the positional relationship of each first device region. For example, a region unit on the right edge of nextArea can be divided into nextnextArea, and a region unit on the right edge of cArea can be divided into nextArea, thereby obtaining multiple second device regions as shown in Figure 15, namely cArea', nextArea', and nextnextArea', which constitute the second device region set.

[0183] Step 1420: Assign each second equipment area to the corresponding handling equipment to establish a second association between multiple handling equipment and multiple second equipment areas.

[0184] After obtaining the second set of equipment areas, a second association relationship can be established between multiple handling devices and multiple second equipment areas based on factors such as distance. During this process, the same second equipment area will not be assigned to the same handling device.

[0185] This method can determine the second device region set and the second association relationship based on the second unit transmission rules and the positional relationship of each first device region. Compared with the first unit transmission rules, the search speed of the second unit transmission rules is faster.

[0186] In some embodiments, when the target rule is a region exchange rule, the equipment scheduling system may also determine the first equipment region set as the second equipment region set based on the first equipment region set and the first association relationship, and exchange the first equipment regions associated with any two handling devices in the first association relationship to establish the second association relationship.

[0187] In other words, the association between the transport device and the first device area in the first association can be exchanged, thereby updating the first association and obtaining the second association. In this process, the device areas contained in the first device area set and the second device area set are the same. For example, Figure 16 shows a schematic diagram of exchanging device areas provided by some embodiments of this disclosure. Referring to Figure 16, in the first association, transport device A is associated with device area 1, transport device B is associated with device area 2, and transport device C is associated with device area 3. When exchanging the association between the transport device and the first device area in the first association, the device areas associated with transport device A and transport device B can be exchanged. In the second association obtained after the exchange, transport device A is associated with device area 2, transport device B is associated with device area 1, and transport device C is associated with device area 3.

[0188] Figure 17 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure. Referring to Figure 17, the first region update cost corresponding to the first association relationship and the second region update cost corresponding to the second association relationship can be determined through the following steps 1710 to 1740:

[0189] Step 1710: Based on the equipment operation information, the task information to be executed, and the first association relationship, determine the first moving distance of each handling device to the associated target equipment area and the first task quantity to be executed corresponding to each target equipment area.

[0190] For example, based on equipment operation information and the first association relationship, the current equipment area where each handling device is located and the first moving distance from the current equipment area where the handling device is located to its associated target equipment area can be determined. Alternatively, based on the task information to be executed and the first association relationship, each target equipment area and the first task quantity to be executed within it can be determined. For example, for a target equipment area, its corresponding first task quantity to be executed is equal to the sum of the task quantities to be executed of all area units in that target equipment area.

[0191] Step 1720: Based on the equipment operation information, the task information to be executed, and the second association, determine the second moving distance of each handling device to the associated target equipment area and the second task quantity corresponding to each target equipment area.

[0192] Correspondingly, based on equipment operation information and the second association, the current equipment area of ​​each handling device and the second movement distance from the current equipment area of ​​the handling device to its associated target equipment area can be determined. Alternatively, based on the task information to be executed and the second association, each target equipment area and the amount of the second task to be executed within it can be determined.

[0193] Step 1730: Input the first movement distance and / or the first task to be executed into the region update cost function to obtain the first region update cost.

[0194] Step 1740: Input the second movement distance and / or the second task to be executed into the region update cost function to obtain the second region update cost.

[0195] The area update cost function is used to calculate the area update cost. It can be set as a function that comprehensively evaluates the movement distance between the handling equipment indicated by the association and its associated equipment area, as well as the difference in the amount of work between the equipment areas indicated by the association.

[0196] For example, the travel distance of each handling device to its associated target device area, such as a first travel distance, can be input into the region update cost function to obtain the cost value corresponding to each handling device. The cost values ​​corresponding to each handling device can then be summed to obtain the first region update cost. Alternatively, the amount of tasks to be executed in each target device area, such as a first amount of tasks to be executed, can be input into the region update cost function to obtain the cost value corresponding to each target device area. The cost values ​​corresponding to each target device area can then be summed to obtain the first region update cost.

[0197] In some embodiments, the region update cost can be determined by comprehensively evaluating the travel distance and the amount of tasks to be performed. For example, the first travel distance and the first amount of tasks to be performed can be comprehensively evaluated, and the sum of the cost values ​​corresponding to each handling device can be added to the sum of the cost values ​​corresponding to each target device region to obtain the first region update cost. Taking the first association relationship as an example, the first travel distances of each handling device to its associated target device region can be added together based on the device operation information, the task information to be performed, and the first association relationship to obtain the distance sum. The standard deviation of the amount of tasks to be performed in each target device region can be calculated, and then the distance sum and the standard deviation can be added together to obtain the first region update cost corresponding to the first association relationship.

[0198] In some embodiments, in the step of iteratively updating the first device region set and the first association relationship based on the first region update cost and the second region update cost until the iteration termination condition is met to obtain the updated first device region set and the updated first association relationship, Figure 18 shows a sub-flowchart of another device scheduling method provided by some embodiments of this disclosure. As shown in Figure 18, the device scheduling system can execute the following steps 1810 to 1840:

[0199] Step 1810: Based on the update cost of the first region and the update cost of the second region, determine the target device region set and the target association relationship.

[0200] For example, the association with the lowest cost value can be selected as the target association, and all handling equipment in the target association can be identified as handling equipment in the target equipment area set.

[0201] Step 1820: Based on the preset area update rules, update the second equipment area set to obtain a third equipment area set including multiple third equipment areas, and establish a third association relationship between multiple handling devices and multiple third equipment areas.

[0202] The third association is used to indicate the third equipment area associated with each handling device.

[0203] In step 1810, the first iteration is completed. In order to further optimize the target association relationship, the second device region set can be updated using the preset region update rules to obtain the third device region set and establish the third association relationship.

[0204] It should be noted that the second device region set is updated using preset region update rules, which has been described in detail in the above embodiment of determining the second device region set based on preset region update rules. To avoid repetition, it will not be repeated here.

[0205] Step 1830: Update the target device region set and the target association based on the third region update cost corresponding to the third association and the region update cost corresponding to the target association.

[0206] By calculating the update cost of the third region corresponding to the third association and comparing it with the region update cost corresponding to the target association, we can further determine the association with the lower cost, that is, update the target device region set and the target association.

[0207] Step 1840: Determine whether the iteration termination condition is met. If it is met, determine the updated first device region set based on the target device region set, and determine the updated first association relationship based on the target association relationship. If it is not met, return to step 1820.

[0208] If the iteration termination condition is met, the region partitioning and allocation process achieves the optimal solution. Therefore, based on the target device region set, an updated first device region set can be determined, and based on the target association relationship, an updated first association relationship can be determined. If the iteration termination condition is not met, the process returns to step 1820 to continue updating the second device region set and determining a new third device region set and a new third association relationship. Therefore, this method allows for the iterative search of optimal device region sets and association relationships.

[0209] In some embodiments, it can be determined whether the target device region set is the optimal device region set and whether the number of iterations has reached the maximum number threshold based on the iteration termination condition; if it is determined that the target device region set is the optimal device region set and / or the number of iterations has reached the maximum number threshold, it is determined that the iteration termination condition is met.

[0210] If the target device region set is not the optimal device region set, or the number of iterations has not reached the maximum threshold, then the iteration termination condition is determined not to be met.

[0211] The maximum number of times threshold is an integer greater than 0, which can be customized.

[0212] For example, to determine whether the target device region set is the optimal device region set, we can judge whether any device region in the target device region set has been updated after multiple iterations. If no device region in the target device region set has been updated for multiple consecutive iterations, then the target device region set is determined to be the optimal device region set.

[0213] In some embodiments, the iteration parameters can be updated using a simulated annealing algorithm. For example, in the case of the first iteration, an initial temperature value is set, and after each iteration, the temperature value is updated using a simulated annealing algorithm, such as calculating temperature = temperature * cooling rate, and determining whether the temperature value has dropped to the minimum. If it is determined that the temperature value has dropped to the minimum, the iteration termination condition is satisfied.

[0214] In some embodiments, during the determination of the target device region set, the second device region set can be determined as the target device region set if the update cost of the second region is less than the update cost of the first region. If the update cost of the second region is greater than or equal to the update cost of the first region, the acceptance probability of the update cost of the second region is determined, and the target device region set is determined from the first device region set and the second device region set based on the acceptance probability. The acceptance probability is determined by a simulated annealing algorithm.

[0215] For example, in determining the acceptance probability using the simulated annealing algorithm, an acceptance probability function can be invoked to generate a random probability. If the random probability is less than the probability value returned by the acceptance probability function, the second device region set is determined as the target device region set; conversely, if the random probability is greater than or equal to the probability value returned by the acceptance probability function, the first device region set is determined as the target device region set. This method allows for the determination of the target device region set based on the region update cost.

[0216] According to the equipment scheduling method provided in the embodiments of this disclosure, when a first transport equipment is added to a target roadway and / or a second transport equipment is removed, the equipment operation information of multiple transport equipment to be operated in the target roadway and the task information to be executed in multiple equipment areas in the target roadway are obtained. Based on the equipment operation information and / or task information to be executed, the multiple equipment areas are divided into multiple target equipment areas, and the target equipment area associated with each transport equipment is determined in the multiple target equipment areas. When the target equipment area associated with a target transport equipment is different from its current equipment area, an area update instruction is sent to the target transport equipment so that the target transport equipment establishes an association relationship with the corresponding target transport equipment, thereby executing transport tasks in the target equipment area. This method can update the area of ​​local transport equipment, thereby improving the overall operating efficiency of transport equipment and reducing the scheduling computation load.

[0217] The embodiments of this disclosure also provide an equipment scheduling method, which can be executed by the control device 1300 in the equipment scheduling system 4000 shown in FIG4. The control device can obtain the equipment operation information of multiple transport devices. When there are obstructing transport devices on the path of the third transport device to its associated first initial equipment area, the control device determines the fourth transport device and the associated second initial equipment area based on the equipment operation information, thereby establishing the association between the fourth transport device and the first initial equipment area. The control device sends a second area update instruction to the fourth transport device, so that the fourth transport device can move to the first initial equipment area to replace the third transport device in performing the transport task in the first initial equipment area. This can improve the overall operating efficiency of the transport devices and reduce the scheduling computation load.

[0218] Figure 19 shows a flowchart of another device scheduling method provided by some embodiments of the present disclosure. As shown in Figure 19, steps 610-610 in the device scheduling method in Figure 6 may include steps 1910-1920, and step 630 may include step 1930.

[0219] Step 1910: Obtain equipment operation information for multiple handling devices.

[0220] The equipment operation information may include the current equipment area where each of the multiple transport devices is located and the initial equipment area associated with each transport device. In some embodiments, the multiple transport devices may operate in multiple lanes, and the lane may include at least one of the multiple equipment areas, where the current equipment area and the initial equipment area are any of the multiple equipment areas.

[0221] In the embodiments of this disclosure, the equipment area can be the area where the transport equipment travels and performs transport tasks. The transport equipment and the equipment area are associated, that is, a transport equipment mainly operates in its associated equipment area, and only moves to multiple equipment areas when it needs to update its home area, or when the equipment area where the issued task to be performed is located is different from its home equipment area.

[0222] During the operation of multiple handling devices, the equipment scheduling system can obtain the equipment operation information of multiple handling devices. For example, sensors and cameras can be installed on each handling device to collect environmental data within its range. The equipment scheduling system can obtain the data collected by the handling device through communication connection and determine the operating status of the handling device, such as the current equipment area at the current time.

[0223] Furthermore, the equipment scheduling system can issue tasks to be executed to the handling equipment, so the equipment scheduling system can obtain the task information of each handling equipment and thus determine the initial equipment area to be reached by each handling equipment.

[0224] By acquiring the equipment operation information of multiple handling devices, it is possible to monitor the operation of each handling device and facilitate the scheduling of each handling device.

[0225] Step 1920: If there is a blocking transport device on the path of the third transport device to its associated first initial equipment area, based on the equipment operation information, identify the fourth transport device among the blocking transport devices, and identify the second initial equipment area associated with the fourth transport device.

[0226] The fourth handling device is different from the third handling device, and the third and fourth handling devices can be any two different handling devices among multiple handling devices.

[0227] When the equipment operation information of multiple handling devices is obtained, the equipment scheduling system can analyze the equipment operation information to determine whether there are any obstructing handling devices on the path of the third handling device to its associated first initial equipment area. If so, the system can determine the fourth handling device from among the obstructing handling devices based on the equipment operation information, and determine the second initial equipment area associated with the fourth handling device.

[0228] For example, when each handling device operates only in its corresponding device area, the equipment scheduling system can determine the first current device area where the third handling device is located and the first initial device area associated with the third handling device based on the equipment operation information. It can then determine whether the first current device area and the first initial device area are the same device area, and whether there are any handling devices blocking the third handling device on the path from the third handling device to the first initial device area. If the first current device area and the first initial device area are different, and there are handling devices blocking the third handling device on the path from the third handling device to the first initial device area, it is determined that the third handling device needs to update its device area. Furthermore, it can further determine the fourth handling device and the second initial device area associated with the fourth handling device from among the blocking handling devices.

[0229] In some embodiments, multiple transport devices operate in multiple aisles, each aisle including at least one equipment area. The equipment operation information may include path information for each of the multiple transport devices. The path information may include the travel path and direction of the transport device to its associated initial equipment area.

[0230] Therefore, in determining whether the third transport device is blocked, the first current equipment area where the third transport device is located can be determined based on the current equipment area of ​​each transport device among multiple transport devices. The roadway where the first current equipment area is located is determined as the first current roadway, and the roadway where the first initial equipment area is located is determined as the first target roadway. Then, based on the path information of the transport devices in the first current roadway and the first target roadway, it is determined whether there are any obstructing transport devices on the path of the third transport device to its associated first initial equipment area.

[0231] For example, based on the travel path and direction of the transport equipment in the first current roadway and the first target roadway, it can be determined whether there are other transport equipment in the same travel direction as the third transport equipment. If so, it can be determined that there are transport equipment in the first current roadway and the first target roadway that are blocking the operation of the third transport equipment.

[0232] In some embodiments, the determination of whether a transport device will obstruct the third transport device can also be based on the travel direction and speed of the transport devices in the first current roadway and the first target roadway, as well as the travel direction and speed of the third transport device. When the transport device in the first current roadway and the first target roadway is located on the travel path of the third transport device and its travel direction is opposite to that of the third transport device, or when the travel direction of the transport device in the first current roadway and the first target roadway is the same as that of the third transport device, but its travel speed is lower than that of the third transport device, it can be determined that the transport device will obstruct the third transport device.

[0233] Using the above method, the operating status of the transport equipment can be monitored while it is traveling in the tunnel, and it can be determined whether the transport equipment needs to update its associated equipment area in order to adjust the ownership relationship of the equipment area.

[0234] In some embodiments, FIG20 shows a sub-flowchart of another equipment scheduling method provided in some embodiments of the present disclosure. As shown in FIG20, in step 1920, the fourth transport device is determined among the blocking transport devices based on the equipment operation information, which can be achieved through the following steps 2010 to 2030:

[0235] Step 2010: Based on the equipment operation information, determine the set of handling equipment and the set of equipment areas.

[0236] The set of transport equipment consists of a third transport equipment and a blocking transport equipment, and the set of equipment areas consists of the first current equipment area where the third transport equipment is located and the current equipment area where the blocking transport equipment is located.

[0237] Based on the equipment operation information, the current equipment area of ​​each of the multiple transport devices can be determined. Then, the third transport device and the blocking transport device can be combined into a transport device set, and the first current equipment area where the third transport device is located and the current equipment area where the blocking transport device is located can be combined into a device area set. Figure 21 shows a schematic diagram of equipment partitioning provided by some embodiments of this disclosure. Referring to Figure 21, the tunnel 1 includes two equipment areas, namely equipment area 1 and equipment area 2, and each of these two equipment areas includes two cells. For the third transport device, such as transport device A, assuming that its first target equipment area is equipment area 2, then the transport device set includes transport device A and transport device B, and the device area set includes equipment area 1 and equipment area 2.

[0238] For example, Figure 22 shows another schematic diagram of equipment partitioning provided by some embodiments of this disclosure. As shown in Figure 22, for lane 1 and lane 2, lane 1 includes two equipment areas, namely equipment area 1 and equipment area 2, and lane 2 includes one equipment area, namely equipment area 3, and equipment area 3 includes 4 cells. For a third transport device, such as transport device C, assuming that its associated first target equipment area is equipment area 3, and the lane where equipment area 3 is located is lane 2, then the transport device set includes the third transport device and the obstructing transport devices on the path to equipment area 3, namely transport device C, transport device D and transport device E, and the equipment area set includes equipment area 1, equipment area 2 and equipment area 3.

[0239] Step 2020: Determine the predicted distances from each handling device in the handling equipment cluster to each equipment area in the equipment cluster.

[0240] The predicted distances from each transport device in the transport equipment cluster to each equipment area in the equipment area cluster can be predicted based on the current operating status of each transport device within the operating area. For example, for any transport device in the transport equipment cluster, the distance from that transport device to each equipment area in the equipment area cluster can be predicted based on the travel speed of that transport device, the number of transport devices in the roadway it is located in, and the number of transport devices in the roadway to which each equipment area in the equipment area cluster belongs.

[0241] In some embodiments, the predicted distance from each handling device in the handling equipment cluster to each equipment area in the equipment area cluster can be determined by the following methods:

[0242] For any transport device in the transport equipment set, the path from that transport device to each equipment area in the equipment area set is planned to obtain multiple planned paths for that transport device. Based on the multiple planned paths, the predicted distance from that transport device to each equipment area in the equipment area set is determined.

[0243] During path planning, based on the current operating status of each handling device within the operating area, a fastest or closest path can be planned for each handling device in the handling device cluster to reach the respective device areas. This results in multiple planned paths for each handling device, indicating the route a handling device takes to reach the device areas. Therefore, the predicted distance from each handling device to its respective device area can be determined, and this predicted distance represents the actual distance a handling device might need to reach its corresponding device area during operation.

[0244] After obtaining multiple planned paths, the predicted distance from each handling device to the equipment area can be determined based on these paths. For example, the path length of each planned path can be determined as the corresponding predicted distance.

[0245] To facilitate the location and scheduling of transport equipment, as shown in Figures 21 and 22, the roadways within the operating area can be divided into multiple equipment zones, and each equipment zone can be further divided into multiple cells. During the generation of multiple planned paths, each planned path passes through at least one equipment zone, and this at least one equipment zone includes at least one cell.

[0246] It should be noted that the cells in the equipment area can be the smallest pre-defined units for locating equipment areas or handling equipment, and do not necessarily have to be actual cells. For example, a cell can accommodate at least one handling device, meaning that the size of a cell is slightly larger than the volume occupied by a handling device.

[0247] In determining the predicted distance, the predicted distance to the equipment area corresponding to the planned path of any of the above-mentioned transport equipment to the equipment area can be determined based on the number of cells in all equipment areas traversed by the planned path. Figure 23 shows another equipment zoning diagram provided by some embodiments of this disclosure. In the equipment distribution diagram shown in Figure 23, there are 3 lanes, namely lane 1, lane 2 and lane 3, and the planned path for transport equipment A to reach equipment area 4 in lane 3 is the route shown in Figure 23, that is, passing through lane 1 and lane 2 to reach equipment area 4 in lane 3. At this time, the predicted distance corresponding to the planned path is the sum of the number of cells in all the equipment areas traversed, which is 9.

[0248] Step 2030: Based on the predicted distances from each transport device in the transport device set to each equipment area in the equipment area set, determine the fourth transport device in the transport device set.

[0249] For example, based on the predicted distances from each transport device in the transport equipment set to each equipment area in the equipment area set, the transport device closest to the first target equipment area can be identified as the fourth transport device.

[0250] Through steps 2010 to 2030 above, the set of transport equipment and the set of equipment areas can be determined. Based on the predicted distances from each transport equipment in the set of transport equipment to each equipment area in the set of equipment areas, a fourth transport equipment is determined in the set of transport equipment. By analyzing some equipment and areas, a fourth transport equipment with higher mobility can be determined without calculating all transport equipment. Therefore, the efficiency of scheduling calculation can be improved, the impact on other transport equipment can be reduced, and the overall operating efficiency of transport equipment can be improved.

[0251] Furthermore, to maximize the operating efficiency of the global transport equipment, Figure 24 shows a sub-flowchart of another equipment scheduling method provided by some embodiments of this disclosure. As shown in Figure 24, step 2030 can be implemented through the following steps 2410 to 2430:

[0252] Step 2410: Establish a distance matrix based on the predicted distances from each transport device in the transport equipment set to each equipment area in the equipment area set.

[0253] The distance matrix is ​​used to indicate the predicted distance from any transport device in the transport equipment set to each equipment area in the equipment area set.

[0254] For example, assuming that the set of handling equipment includes 3 handling equipment and the set of equipment areas includes 3 equipment areas, a 3*3 distance matrix can be established based on the predicted distance from each handling equipment in the set of handling equipment to each equipment area in the set of equipment areas. The element value in the distance matrix is ​​the predicted distance value from the corresponding handling equipment to the corresponding equipment area.

[0255] Step 2420: Reduce the distance matrix and determine the target area allocation rule based on the reduction result. The target area allocation rule is used to indicate the association between each handling device in the handling equipment set and each equipment area in the equipment area set.

[0256] To determine the optimal region allocation rule between each handling device in the handling equipment set and each equipment area in the equipment area set, the distance matrix can be reduced, for example, by using the Hungarian algorithm. The result of the reduction can then be selected based on the result of the reduction, which can be used as the target region allocation rule. This target region allocation rule can indicate the relationship between each handling device in the handling equipment set and each equipment area in the equipment area set.

[0257] In the process of reducing the distance matrix using the Hungarian algorithm, we can first perform row reduction on the distance matrix, that is, for each row of the distance matrix, find the minimum element of that row and subtract this minimum element from all elements of that row to obtain the row-reduced distance matrix; then, we can perform column reduction on the row-reduced distance matrix, that is, find the minimum element of each column and subtract this minimum element from all elements of each column, so that the number of 0 elements in the column-reduced matrix increases.

[0258] Based on the reduced matrix, determine the number of independent zero elements. If the number of independent zero elements equals the number of rows or columns in the reduced matrix, then the optimal allocation scheme has been found. If the number is insufficient, further processing is required, such as covering all zero elements with the fewest possible lines and adjusting the matrix, until the optimal solution is found. After finding the optimal solution, the row and column of each row of zero elements in the optimal solution indicate the corresponding handling equipment and equipment area, respectively. Therefore, based on the optimal solution, the target area allocation rule can be determined.

[0259] Step 2430: Based on the target area allocation rules, the handling equipment that is centrally allocated to the first initial equipment area is determined as the fourth handling equipment.

[0260] For example, suppose that in the area allocation rules, transport equipment A is assigned to equipment area 1, transport equipment B is assigned to equipment area 3, and transport equipment C is assigned to equipment area 2, and equipment area 2 is the first initial equipment area, then the fourth transport equipment is transport equipment C.

[0261] Through steps 2410 to 2430 above, a distance matrix can be established and reduced to obtain the target area allocation rule. This allows for the determination of the optimal area allocation scheme, thereby improving the area update efficiency of the handling equipment and the operational efficiency after the area update.

[0262] Figure 25 shows a sub-flowchart of another device scheduling method provided in some embodiments of this disclosure. As shown in Figure 25, in step 2420, the device scheduling system may also perform the following method:

[0263] Step 2510: Based on the results of the reduction process, if it is determined that there are multiple region allocation rules between each transport device in the transport device set and each device region in the device region set, determine the distance cost corresponding to each region allocation rule among the multiple region allocation rules.

[0264] Figure 26 illustrates a schematic diagram of a region allocation rule provided in some embodiments of this disclosure. As shown in Figure 26, assuming that in region allocation rule 1, transport device A is allocated to device region 2 and it needs to reach the last cell in device region 2, and transport device B is allocated to device region 1 and it needs to reach the last cell in device region 1, the total predicted distance between the two transport devices is 4 + 1 = 5. In region allocation rule 2, transport device A is allocated to device region 1 and it needs to reach the last cell in device region 1, and transport device B is allocated to device region 2 and it needs to reach the last cell in device region 2. The total predicted distance between the two transport devices is 2 + 3 = 5, which is equal to the total predicted distance in region allocation rule 1. Therefore, there are two region allocation rules between each transport device in the transport device set and each device region in the device region set.

[0265] In some embodiments, in determining the distance cost corresponding to each region allocation rule, the association between each transport device in the transport equipment set and each device region in the device region set can be determined based on the region allocation rule. For example, according to the region allocation rule, it can be determined which device region each transport device in the transport equipment set is assigned to. Then, based on the association between each transport device in the transport equipment set and each device region in the device region set, the predicted distance from each transport device in the transport equipment set to its associated device region is used as the input of the distance cost function to obtain the cost value corresponding to each transport device. Finally, the cost values ​​corresponding to each transport device are summed to obtain the distance cost corresponding to the region allocation rule.

[0266] The distance cost function is a non-linear increasing function, such as f(x) = a x , where a can be 2, 3, 4, 5, 6, 7, e, etc.

[0267] For example, in the aforementioned region allocation rule 1, if transport equipment A is assigned to equipment region 2 and transport equipment B is assigned to equipment region 1, then according to this allocation rule, the predicted distance from transport equipment A to equipment region 2 can be used as the input to the distance cost function to obtain the cost corresponding to transport equipment A. Similarly, the predicted distance from transport equipment B to equipment region 1 can be used as the input to the distance cost function to obtain the cost corresponding to transport equipment B. Then, the costs corresponding to transport equipment A and transport equipment B are added together to obtain the distance cost corresponding to region allocation rule 1. This method can leverage the distance cost function to amplify the differences between different region allocation rules and determine the optimal target region allocation rule.

[0268] In some embodiments, the distance cost function may also be any of the following formulas: f(x) = e x(1) f(x)=x+log(x) (2) f(x)=x+μ*x 2 ,x∈(0,1) (3)

[0269] Where x is the predicted distance from the transport equipment to the corresponding equipment area, and μ is less than 1, such as 0.005.

[0270] Taking the above formula (3) as an example, the predicted distances of transport equipment A and transport equipment B in each regional allocation rule can be input into formula (3) to obtain the distance costs corresponding to these two regional allocation rules. For example, the distance cost corresponding to regional allocation rule 1 is 4 + 0.005 * 4. 2 +1+0.005*1 2 =5.085, the distance cost corresponding to region allocation rule 2 is 2 + 0.005 * 2 2 +3+0.005*3 2 =5.065.

[0271] Step 2520: Determine the region allocation rule with the minimum distance cost among multiple region allocation rules as the target region allocation rule.

[0272] For example, among the above-mentioned region allocation rule 1 and region allocation rule 2, region allocation rule 2 has the smallest distance cost, so region allocation rule 2 is the final target region allocation rule.

[0273] In fact, by calculating the distance cost corresponding to each area allocation rule, we can assess the impact of each area allocation rule on the operation of other handling equipment, and thus select the area allocation rule with the lowest impact as the target area allocation rule to ensure the operating efficiency of each handling equipment.

[0274] To improve computational efficiency, in some embodiments, the fourth transport device can be determined directly based on the predicted distances from each transport device in the transport device set to each equipment area in the equipment area set. This means the transport device with the shortest predicted distance from the first initial equipment area can reach that area quickly, resulting in higher operational efficiency.

[0275] Step 1930: Establish the association between the fourth transport device and the first initial device area, and send the second area update command to the fourth transport device.

[0276] The second area update instruction is used to instruct the fourth handling device to move to the first initial equipment area to replace the third handling device in performing the handling task in the first initial equipment area.

[0277] To improve the mobility of the handling equipment, a connection can be established between the fourth handling equipment and the first initial equipment area, and a second area update command can be sent to the fourth handling equipment to schedule it to arrive at the first initial equipment area to perform handling tasks. This can reduce the waiting time caused by the third handling equipment being blocked and improve the operating efficiency of the handling equipment.

[0278] In some embodiments, when the fourth transport device arrives at the first initial equipment area, if the second current equipment area where the fourth transport device is located and the first initial equipment area are located in the same lane, the fourth transport device can directly reach the first initial equipment area from the second current equipment area in that lane. If they are located in different lanes, the fourth transport device can leave the lane where the second current equipment area is located, travel along the high-speed channel outside the lane, reach the first target lane where the first initial equipment area is located, and enter the first initial equipment area.

[0279] To facilitate the arrival of the fourth transport device in the first initial equipment area, in some embodiments, the equipment scheduling system may also generate a first target planning path for the fourth transport device based on the second current equipment area and the first initial equipment area where the fourth transport device is located, and send a first path update instruction to the fourth transport device. The first path update instruction is used to instruct the fourth transport device to travel according to the first target planning path to move from the second current equipment area to the first initial equipment area.

[0280] For example, based on the operating status of the transport equipment operating in the second current equipment area and the first initial equipment area, the other equipment areas passed between the second current equipment area and the first initial equipment area, and the operating status of other transport equipment waiting to enter other equipment areas, a first target planning path that is fastest or closest to the first initial equipment area can be planned, so that the fourth transport equipment can quickly reach the first initial equipment area.

[0281] To ensure the execution of all handling tasks, in some embodiments, after establishing the association between the fourth handling device and the first initial device area and sending a second area update instruction to the fourth handling device, the equipment scheduling system can also establish the association between the third handling device and the second initial device area and send a third area update instruction to the third handling device if there are no other handling devices besides the fourth handling device among the blocking handling devices.

[0282] The third area update instruction is used to instruct the third handling device to move to the second initial equipment area to replace the fourth handling device in performing the handling task in the second initial equipment area.

[0283] If there are no other transport devices besides the fourth transport device in the obstructing transport equipment, the third transport device can be dispatched to the second initial equipment area to perform the transport task using the above method. Since there are no obstructions, it is more convenient for the third transport device to reach the second initial equipment area. Therefore, it is possible to dispatch the third and fourth transport devices, improve the movement efficiency, and avoid affecting other transport devices.

[0284] In some embodiments, after sending a third region update instruction to the third transport device, a second target planning path corresponding to the third transport device can be generated based on the first current device region and the second initial device region where the third transport device is located, thereby sending a second path update instruction to the third transport device.

[0285] The second path update instruction is used to instruct the third handling equipment to travel along the second target planned path to move from the first current equipment area to the second initial equipment area.

[0286] For example, based on the operating status of the transport equipment operating in the first current equipment area and the second initial equipment area, the other equipment areas passed between the first current equipment area and the second initial equipment area, and the operating status of other transport equipment waiting to enter other equipment areas, a second target planning path can be planned to reach the second initial equipment area the fastest or closest, so that the third transport equipment can quickly reach the second initial equipment area.

[0287] In some embodiments, after establishing the association between the fourth transport device and the first initial device area and sending a second area update instruction to the fourth transport device, Figure 27 shows a sub-flowchart of another equipment scheduling method provided in some embodiments of this disclosure. The equipment scheduling system can also perform the following steps 2710 to 2730:

[0288] Step 2710: If there are other handling devices besides the fourth handling device in the blocking handling device, determine the third initial device area associated with the third handling device and the fourth initial device area associated with the other handling devices based on the equipment operation information of the third handling device and the other handling devices.

[0289] For example, based on the number and location of other handling devices besides the fourth handling device in the blocking handling equipment, the associated target equipment area can be redefined for all handling devices in the third and other handling equipment. For instance, the handling devices that arrive at the corresponding initial equipment area can be redefined using the methods corresponding to steps 2010 to 2030, so as to achieve the purpose of redefining the target equipment area for all handling devices.

[0290] For example, based on the current equipment area where all the transport equipment in the third transport equipment and other transport equipment are located and the equipment areas they are associated with at the current moment, the transport equipment closest to the equipment area can be assigned to that equipment area according to the distance between each transport equipment and each equipment area, so as to achieve the purpose of redetermining the target equipment area for all transport equipment.

[0291] Step 2720: Send the fourth area update command to the third handling equipment and the fifth area update command to the other handling equipment.

[0292] The fourth area update instruction is used to instruct the third handling equipment to move to the third initial equipment area to perform handling tasks in the third initial equipment area, and the fifth area update instruction is used to instruct other handling equipment to move to the fourth initial equipment area to perform handling tasks in the fourth initial equipment area.

[0293] After completing the area allocation, the third initial equipment area associated with the third transport equipment and the fourth initial equipment area associated with other transport equipment can be determined. Then, a fourth area update instruction is sent to the third transport equipment and a fifth area update instruction is sent to other transport equipment, so that the third transport equipment can move to the third initial equipment area to perform transport tasks in the third initial equipment area, and other transport equipment can move to the fourth initial equipment area to perform transport tasks in the fourth initial equipment area.

[0294] For example, in the equipment distribution diagram shown in Figure 22, after completing the area allocation, we can obtain the equipment partition diagram shown in Figure 28. It can be seen that the handling equipment A is assigned to equipment area 1, the handling equipment B is assigned to equipment area 2, and the handling equipment C is assigned to equipment area 3. At this time, the handling equipment A, handling equipment B, and handling equipment C can operate simultaneously and reach their respective associated target equipment areas without waiting for other handling equipment.

[0295] In some embodiments, after sending a fourth region update instruction to the third transport device, the equipment scheduling system may also generate a third target planning path corresponding to the third transport device based on the first current equipment region and the third initial equipment region where the third transport device is located, thereby sending a third path update instruction to the third transport device.

[0296] The third path update instruction is used to instruct the third transport device to travel along the third target planned path to move from the first current equipment area to the third initial equipment area.

[0297] For example, based on the operating status of the transport equipment running in the first current equipment area and the third initial equipment area, the other equipment areas passed between the first current equipment area and the third initial equipment area, and the operating status of other transport equipment waiting to enter other equipment areas, a third target planning path that reaches the third initial equipment area the fastest or closest can be planned, so that the fourth transport equipment can quickly reach the third initial equipment area.

[0298] In some embodiments, after sending a fifth region update instruction to other handling equipment, the equipment scheduling system can also generate a fourth target planning path for the other handling equipment based on the current equipment region and the fourth initial equipment region where the other handling equipment is located. For example, it can plan a fourth target planning path for the other handling equipment that is the fastest or closest to reach the fourth initial equipment region, and then send a fourth path update instruction to the other handling equipment to instruct the other handling equipment to travel according to the fourth target planning path and move from the current equipment region where the other handling equipment is located to the fourth initial equipment region, thereby improving the operating efficiency of the other handling equipment.

[0299] Therefore, by using the above method, the relationship between handling equipment and equipment areas can be redistributed, thereby maximizing the operating efficiency of all handling equipment.

[0300] According to the equipment scheduling method provided in the embodiments of this disclosure, equipment operation information of multiple handling devices can be obtained. If there is an obstructing handling device on the path of a third handling device to its associated first initial equipment area, a fourth handling device is determined from among the multiple handling devices based on the equipment operation information. The associated second initial equipment area of ​​the fourth handling device is also determined, an association relationship is established between the fourth handling device and the first initial equipment area, and a second area update command is sent to the fourth handling device to move it to the first initial equipment area, thereby replacing the third handling device in performing the handling task in the first initial equipment area. Therefore, this method can achieve scheduling of local handling devices, optimize the operating rules of some equipment areas, without affecting the operation of the global handling devices, improve the overall operating efficiency of the handling devices, and reduce the amount of scheduling computation.

[0301] Figure 29 shows a schematic diagram of the structure of an electronic device provided by some embodiments of the present disclosure. The specific embodiments of the present disclosure do not limit the specific implementation of the electronic device.

[0302] As shown in Figure 29, the electronic device can be the control device described in the above embodiments. For example, the electronic device may include: a processor 2902, a communications interface 2904, a memory 2906, and a communications bus 2908.

[0303] The processor 2902, communication interface 2904, and memory 2906 communicate with each other via communication bus 2908. Communication interface 2904 is used to communicate with other network elements such as clients or other servers. The processor 2902 executes program 2910, specifically performing the relevant steps described in the device scheduling method embodiment.

[0304] Specifically, program 2910 may include program code, which includes computer-executable instructions.

[0305] The processor 2902 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure. The electronic device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0306] Memory 2906 is used to store program 2910. Memory 2906 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0307] Specifically, program 2910 can be called by processor 2902 to cause the electronic device to execute the steps in the above-mentioned device scheduling method.

[0308] This disclosure also provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device / device scheduling system, causes the electronic device / device scheduling system to perform the device scheduling method in any of the above method embodiments.

[0309] The executable instructions can be used to cause the electronic device / device scheduling system to perform the steps in the above-mentioned device scheduling method.

[0310] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments disclosed herein are not directed to any particular programming language.

[0311] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this disclosure may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the foregoing description of exemplary embodiments of this disclosure, various features of embodiments of this disclosure are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this disclosure.

[0312] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0313] It should be noted that the above embodiments are illustrative of this disclosure and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This disclosure can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A device scheduling method, the method comprising: In the event of a target event affecting task execution occurring in the storage area, the equipment operation information of multiple handling devices associated with the target event and the task information to be executed in multiple equipment areas are obtained. The equipment operation information includes the current equipment area where each of the multiple handling devices is located, and the multiple equipment areas include the equipment areas associated with each of the handling devices. Based on the equipment operation information and / or the task information to be executed, the target equipment area associated with each of the multiple equipment areas is determined; Send a region update command to the transport equipment to instruct the transport equipment to arrive at the associated target equipment region and perform the transport task in the associated target equipment region.

2. The method according to claim 1, wherein, The target event includes adding a first transport device and / or removing a second transport device in the target roadway; the plurality of transport devices are a plurality of devices to be operated in the target roadway, and the device operation information includes the current device area of ​​each of the plurality of transport devices, and the plurality of device areas include the device areas associated with each transport device in the target roadway before the addition of the first transport device and / or the removal of the second transport device; The step of determining the target device region associated with each of the transport devices based on the device operation information and / or the task information to be executed in the plurality of device regions includes: Based on the equipment operation information and / or the task information to be executed, the multiple equipment areas are divided into multiple target equipment areas, and the target equipment area associated with each of the multiple target equipment areas is determined; Sending the region update instruction to the conveying device includes: If the target device region associated with the target handling device is different from its current device region, a first region update command is sent to the target handling device. The first region update instruction is used to instruct the establishment of an association between the target handling device and the corresponding target device region, so that the target handling device can perform handling tasks in its associated target device region. The target handling device is any one of the plurality of handling devices.

3. The method according to claim 2, wherein, The equipment operation information includes equipment information for each of the plurality of handling devices. The step of dividing the plurality of device areas into plurality of target device areas based on the equipment operation information and / or the task information to be executed includes: Based on the equipment information and the number of the multiple handling devices, the multiple equipment areas are divided into multiple target equipment areas so that the number of the multiple target equipment areas matches the number of devices.

4. The method according to claim 3, wherein, The step of dividing the multiple equipment areas into multiple target equipment areas based on the equipment information and the number of the multiple handling devices includes: When the equipment information indicates that the plurality of transport equipment includes the first transport equipment and the original transport equipment in the target lane, the plurality of equipment areas are divided into a plurality of target equipment areas based on the number of equipment. The plurality of target equipment areas include the target equipment area associated with the first transport equipment and the target equipment areas associated with the original transport equipment in the target roadway.

5. The method according to claim 3, wherein, The step of dividing the multiple equipment areas into multiple target equipment areas based on the equipment information and the number of the multiple handling devices includes: When the equipment information indicates that the plurality of transport equipment includes other transport equipment besides the second transport equipment among the original transport equipment in the target lane, the plurality of equipment areas are divided into a plurality of target equipment areas based on the number of equipment. The plurality of target equipment areas include the target equipment areas associated with the other handling equipment respectively.

6. The method according to claim 3, wherein, The step of dividing the multiple equipment areas into multiple target equipment areas based on the equipment information and the number of the multiple handling devices includes: When the equipment information indicates that the plurality of transport equipment includes the first transport equipment and other transport equipment other than the second transport equipment among the original transport equipment in the target alley, the plurality of equipment areas are divided into a plurality of target equipment areas based on the number of equipment; The plurality of target device areas include the target device area associated with the first handling device and the target device areas associated with the other handling devices respectively.

7. The method according to claim 2, wherein, The device region includes multiple region units, and the task-to-be-executed information includes the amount of tasks to be executed corresponding to each region unit in each device region. Dividing the multiple device regions into multiple target device regions based on the device operation information and / or the task-to-be-executed information includes: Based on the amount of tasks to be executed corresponding to each area unit in each of the aforementioned device areas, the multiple device areas are divided into multiple target device areas; Wherein, the regional units within the target device area are continuous, and the difference in the amount of tasks to be executed between any two target device areas is less than a preset threshold.

8. The method according to claim 2, wherein, The step of dividing the multiple device areas into multiple target device areas based on the device operation information and / or the task information to be executed, and determining the target device area associated with each of the transport devices within the multiple target device areas, includes: Based on the number of the multiple handling devices, the multiple device areas are divided into a first device area set including multiple first device areas, and a first association relationship is established between the multiple handling devices and the multiple first device areas; the first association relationship is used to indicate the first device area associated with each of the handling devices; Based on the preset area update rules, the first device area set, and the first association relationship, a second device area set including multiple second device areas is determined, and a second association relationship is established between the multiple handling devices and the multiple second device areas; the second association relationship is used to indicate the second device area associated with each of the handling devices; Based on the device operation information and the task information to be executed, the first region update cost corresponding to the first association and the second region update cost corresponding to the second association are determined. Based on the first region update cost and the second region update cost, the first device region set and the first association are iteratively updated until the iteration end condition is met, and the updated first device region set and the updated first association are obtained. Based on the updated first device region set, the plurality of target device regions are determined, and based on the updated first association relationship, the target device region associated with each of the transport devices is determined.

9. The method according to claim 8, wherein, The equipment area includes multiple area units. Based on the number of the multiple handling devices, the multiple equipment areas are divided into a first equipment area set, which includes multiple first equipment areas. A first association relationship is established between the multiple handling devices and the multiple first equipment areas, including: Based on the number of the multiple handling devices, the multiple device areas are divided into regional units to obtain the multiple first device areas. Each first device area includes at least one regional unit, and the regional units within the first device area are continuous. Each of the first equipment areas is assigned to a corresponding handling equipment to establish a first association between the multiple handling equipment and the multiple first equipment areas.

10. The method according to claim 8, wherein the device area comprises a plurality of area units, and the preset area update rule comprises at least one of a first unit transmission rule, a second unit transmission rule, and an area exchange rule; the method further comprises: Based on the first usage probability of the first unit transmission rule, the second usage probability of the second unit transmission rule, and the third usage probability of the area exchange rule, the rule with the highest usage probability among the first unit transmission rule, the second unit transmission rule, and the area exchange rule is determined as the target rule; the sum of the probabilities of the first usage probability, the second usage probability, and the third usage probability is 1; The process of determining a second device region set including multiple second device regions based on preset region update rules, the first device region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second device regions, includes: Based on the target rules, the first set of equipment regions, and the first association relationship, a second set of equipment regions including multiple second equipment regions is determined, and a second association relationship is established between the multiple handling devices and the multiple second equipment regions.

11. The method according to claim 10, wherein, The step of determining a second equipment region set including multiple second equipment regions based on the target rule, the first equipment region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second equipment regions, includes: When the target rule is the first unit transfer rule, based on the first unit transfer rule, the number of regional units in each of the first device regions and the positional relationship of each of the first device regions, the last regional unit in the previous first device region of any two adjacent first device regions is divided into the next first device region along the first transfer direction to obtain the second device region set; the number of regional units in the previous first device region is greater than 1. Each of the second equipment areas is assigned to a corresponding handling equipment to establish a second association between the plurality of handling equipment and the plurality of second equipment areas.

12. The method according to claim 10, wherein, The step of determining a second equipment region set including multiple second equipment regions based on the target rule, the first equipment region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second equipment regions, includes: When the target rule is the second unit transfer rule, based on the second unit transfer rule, the number of regional units in each first device region and the positional relationship of each first device region, the last regional unit in the previous first device region is divided into the next first device region along the second transfer direction until the processing of all first device regions is completed, and the second device region set is obtained, wherein the number of regional units in the previous first device region is greater than 1. Each of the second equipment areas is assigned to a corresponding handling equipment to establish a second association between the plurality of handling equipment and the plurality of second equipment areas.

13. The method according to claim 10, wherein, The step of determining a second equipment region set including multiple second equipment regions based on the target rule, the first equipment region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second equipment regions, includes: When the target rule is the area exchange rule, based on the first device area set and the first association relationship, the first device area set is determined as the second device area set, and the first device areas associated with any two handling devices in the first association relationship are exchanged to establish the second association relationship.

14. The method according to claim 8, wherein, The step of iteratively updating the first device region set and the first association relationship based on the first region update cost and the second region update cost until the iteration termination condition is met, to obtain the updated first device region set and the updated first association relationship, includes: Based on the update cost of the first region and the update cost of the second region, the target device region set and target association relationship are determined; Based on the preset area update rule, the second device area set is updated to obtain a third device area set including multiple third device areas, and a third association relationship is established between the multiple handling devices and the multiple third device areas. The third association relationship is used to indicate the third device area associated with each of the handling devices. Based on the third region update cost corresponding to the third association and the region update cost corresponding to the target association, the target device region set and the target association are updated; The process involves determining whether the iteration termination condition is met. If met, the updated first device region set is determined based on the target device region set, and the updated first association relationship is determined based on the target association relationship. If not met, the process returns to updating the second device region set based on the preset region update rule to obtain a third device region set including multiple third device regions, and establishing a third association relationship between the multiple handling devices and the multiple third device regions.

15. The method according to claim 8, wherein, The step of determining the first region update cost corresponding to the first association and the second region update cost corresponding to the second association based on the device operation information and the task to be executed information includes: Based on the equipment operation information, the task information to be executed, and the first association relationship, the first moving distance of each of the transport devices to the associated target equipment area and the first task quantity to be executed corresponding to each target equipment area are determined. Based on the equipment operation information, the task information to be executed, and the second association relationship, the second moving distance of each of the transport devices to the associated target equipment area and the second task quantity corresponding to each target equipment area are determined. Input the first moving distance and / or the first amount of task to be executed into the region update cost function to obtain the first region update cost; The second movement distance and / or the second task quantity to be executed are input into the region update cost function to obtain the second region update cost.

16. The method of claim 14, wherein, Determining whether the iteration termination condition is met includes: Based on the iteration termination condition, determine whether the target device region set is the optimal device region set, and whether the number of iterations has reached the maximum number threshold. If the target device region set is determined to be the optimal device region set, and / or the number of iterations reaches the maximum number threshold, then the iteration termination condition is determined to be satisfied. If it is determined that the target device region set is not the optimal device region set, or if the number of iterations has not reached the maximum number threshold, then the iteration termination condition is not met.

17. The method of claim 14, wherein, The step of determining the target device region set and target association relationship based on the first region update cost and the second region update cost includes: If the update cost of the second region is less than the update cost of the first region, the second device region set is determined as the target device region set; If the update cost of the second region is greater than or equal to the update cost of the first region, the acceptance probability of the update cost of the second region is determined, and the target device region set is determined in the first device region set and the second device region set based on the acceptance probability. The acceptance probability is determined by the simulated annealing algorithm.

18. The method according to claim 1, wherein, The equipment operation information also includes the initial equipment area associated with each of the plurality of transport devices, the plurality of equipment areas including the initial equipment area, and the target event includes the existence of a blocking transport device on the path of the third transport device to its associated first initial equipment area, the plurality of transport devices including the third transport device and the blocking transport device; The step of determining the target device region associated with each of the transport devices based on the device operation information and / or the task information to be executed in the plurality of device regions includes: Based on the equipment operation information, a fourth transport device is identified among the blocking transport devices, and a second initial equipment area associated with the fourth transport device is determined. The third transport device and the fourth transport device are different, and the plurality of transport devices include the fourth transport device. The first initial equipment area is determined as the target equipment area associated with the fourth handling equipment; Sending the region update instruction to the conveying device includes: Establish an association between the fourth transport device and the first initial device area, and send a second area update instruction to the fourth transport device. The second area update instruction is used to instruct the fourth transport device to move to the first initial device area to replace the third transport device in performing transport tasks in the first initial device area.

19. The method according to claim 18, further comprising: If there are no other handling devices besides the fourth handling device in the blocking handling device, establish the association between the third handling device and the second initial device area, and send a third area update command to the third handling device; The third area update instruction is used to instruct the third handling device to move to the second initial device area, so as to replace the fourth handling device in performing the handling task in the second initial device area.

20. The method according to claim 18, further comprising: If there are other handling devices besides the fourth handling device in the blocking handling device, the third initial device area associated with the third handling device and the fourth initial device area associated with the other handling devices are determined based on the equipment operation information of the third handling device and the other handling devices. A fourth area update instruction is sent to the third transport device, the fourth area update instruction being used to instruct the third transport device to move to the third initial device area in order to perform a transport task in the third initial device area; A fifth area update instruction is sent to the other handling equipment, the fifth area update instruction being used to instruct the other handling equipment to move to the fourth initial equipment area to perform handling tasks in the fourth initial equipment area.

21. The method according to claim 18, wherein the plurality of transport devices operate in a plurality of lanes, the lanes including at least one equipment area, the equipment operation information including path information of each of the plurality of transport devices, and the method further comprising: Based on the current equipment area of ​​each of the plurality of transport devices, the first current equipment area of ​​the third transport device is determined, and the lane where the first current equipment area is located is determined as the first current lane, and the lane where the first initial equipment area is located is determined as the first target lane; Based on the path information of the transport equipment in the first current lane and the first target lane, it is determined whether there is any obstructing transport equipment on the path of the third transport equipment to its associated first initial equipment area.

22. The method according to claim 18, wherein, The step of determining a fourth handling device among the blocking and handling devices based on the equipment operation information includes: Based on the equipment operation information, a set of transport equipment and a set of equipment regions are determined. The set of transport equipment consists of the third transport equipment and the blocking transport equipment. The set of equipment regions consists of the first current equipment region where the third transport equipment is located and the current equipment region where the blocking transport equipment is located. Determine the predicted distance from each handling device in the handling equipment cluster to each equipment area in the equipment area cluster; Based on the predicted distances from each transport device in the transport equipment set to each equipment area in the equipment area set, the fourth transport device is determined in the transport equipment set.

23. The method according to claim 22, wherein, The step of determining the fourth handling device in the handling device set based on the predicted distances from each handling device in the handling device set to each device area in the device area set includes: Based on the predicted distances from each of the transport devices in the transport device set to each of the device areas in the device area set, a distance matrix is ​​established. The distance matrix is ​​used to indicate the predicted distances from any transport device in the transport device set to each of the device areas in the device area set. The distance matrix is ​​reduced, and based on the result of the reduction, a target region allocation rule is determined. The target region allocation rule is used to indicate the association between each of the transport equipment in the transport equipment set and each of the equipment regions in the equipment region set. Based on the target area allocation rules, the transport equipment that is centrally allocated to the first initial equipment area is determined as the fourth transport equipment.

24. The method according to claim 22, wherein, Determining the predicted distance from each handling device in the handling equipment set to each equipment area in the equipment area set includes: For any transport device in the transport equipment set, the path from any transport device to each of the equipment areas in the equipment area set is planned to obtain multiple planned paths corresponding to any transport device; Based on the multiple planned paths, the predicted distance from any transport device to each of the equipment areas in the equipment area set is determined.

25. The method according to claim 24, wherein, The planned path passes through at least one equipment area, and the at least one equipment area includes at least one cell. Determining the predicted distance from any transport device to each of the equipment areas in the set of equipment areas, based on the multiple planned paths, includes: Based on the number of cells in all equipment areas traversed by the planned path, the predicted distance from any transport device to the equipment area corresponding to the planned path in the equipment area set is determined.

26. The method according to claim 23, further comprising: Based on the result of the reduction process, if it is determined that there are multiple region allocation rules between each of the transport equipment in the transport equipment set and each of the equipment regions in the equipment region set, the distance cost corresponding to each of the multiple region allocation rules is determined. The region allocation rule with the minimum distance cost among the multiple region allocation rules is determined as the target region allocation rule.

27. The method according to claim 26, wherein, Determining the distance cost corresponding to each of the plurality of region allocation rules includes: Based on the region allocation rules, the association relationship between each of the transport equipment in the transport equipment set and each of the equipment regions in the equipment region set is determined; Based on the association between each transport device in the transport equipment set and each equipment area in the equipment area set, the predicted distance from each transport device in the transport equipment set to its associated equipment area is used as the input of the distance cost function to obtain the cost value corresponding to each transport device. The distance cost function is a non-linear increasing function. The distance cost corresponding to each of the aforementioned handling devices is summed to obtain the distance cost corresponding to the region allocation rule.

28. The method according to claim 22, wherein, The step of determining the fourth handling device in the handling device set based on the predicted distances from each handling device in the handling device set to each device area in the device area set includes: Based on the predicted distances from each transport device in the transport equipment group to each equipment area in the equipment area group, the transport device with the shortest predicted distance to the first initial equipment area is determined as the fourth transport device.

29. The method of claim 18, further comprising, after sending the second area update instruction to the fourth conveying device: Based on the second current equipment area where the fourth transport device is located and the first initial equipment area, a first target planning path corresponding to the fourth transport device is generated; A first path update instruction is sent to the fourth transport device, which instructs the fourth transport device to travel along the first target planned path to move from the second current device area to the first initial device area.

30. The method of claim 19, further comprising, after sending a third area update instruction to the third conveying device: Based on the first current equipment area and the second initial equipment area where the third transport equipment is located, a second target planning path corresponding to the third transport equipment is generated; A second path update instruction is sent to the third transport device, the second path update instruction being used to instruct the third transport device to travel according to the second target planned path, so as to move from the first current device area to the second initial device area.

31. The method of claim 20, further comprising, after sending a fourth area update instruction to the third conveying device: Based on the first current equipment area where the third transport equipment is located and the third initial equipment area, a third target planning path corresponding to the third transport equipment is generated; A third path update instruction is sent to the third transport device, which instructs the third transport device to travel along the third target planned path to move from the first current device area to the third initial device area.

32. The method of claim 20, further comprising, after sending the fifth area update instruction to the other handling equipment: Based on the current equipment area where the other handling equipment is located and the fourth initial equipment area, a fourth target planning path is generated for the other handling equipment; A fourth path update instruction is sent to the other handling equipment, which instructs the other handling equipment to travel according to the fourth target planned path to move from the current equipment area where the other handling equipment is located to the fourth initial equipment area.

33. A method for scheduling equipment, the method comprising: When a first transport device is added to the target roadway and / or a second transport device is removed, the equipment operation information of multiple transport devices to be operated in the target roadway and the task information to be executed in multiple equipment areas in the target roadway are obtained. The equipment operation information includes the current equipment area where each of the plurality of transport devices is located, and the plurality of equipment areas include the equipment areas associated with each transport device in the target roadway before the first transport device was added and / or the second transport device was removed; Based on the equipment operation information and / or the task information to be executed, the multiple equipment areas are divided into multiple target equipment areas, and the target equipment area associated with each of the multiple target equipment areas is determined; If the target device region associated with the target handling device is different from its current device region, a first region update command is sent to the target handling device. The first region update instruction is used to instruct the establishment of an association between the target handling device and the corresponding target device region, so that the target handling device can perform handling tasks in its associated target device region. The target handling device is any one of the plurality of handling devices.

34. The method according to claim 33, wherein, The equipment operation information includes equipment information for each of the plurality of handling devices. The step of dividing the plurality of device areas into plurality of target device areas based on the equipment operation information and / or the task information to be executed includes: Based on the equipment information and the number of the multiple handling devices, the multiple equipment areas are divided into multiple target equipment areas so that the number of the multiple target equipment areas matches the number of devices.

35. The method according to claim 34, wherein, The step of dividing the multiple equipment areas into multiple target equipment areas based on the equipment information and the number of the multiple handling devices includes: When the equipment information indicates that the plurality of transport equipment includes the first transport equipment and the original transport equipment in the target lane, the plurality of equipment areas are divided into a plurality of target equipment areas based on the number of equipment. The plurality of target equipment areas include the target equipment area associated with the first transport equipment and the target equipment areas associated with the original transport equipment in the target roadway.

36. The method according to claim 34, wherein, The step of dividing the multiple equipment areas into multiple target equipment areas based on the equipment information and the number of the multiple handling devices includes: When the equipment information indicates that the plurality of transport equipment includes other transport equipment besides the second transport equipment among the original transport equipment in the target lane, the plurality of equipment areas are divided into a plurality of target equipment areas based on the number of equipment. The plurality of target equipment areas include the target equipment areas associated with the other handling equipment respectively.

37. The method of claim 34, wherein, The step of dividing the multiple equipment areas into multiple target equipment areas based on the equipment information and the number of the multiple handling devices includes: When the equipment information indicates that the plurality of transport equipment includes the first transport equipment and other transport equipment other than the second transport equipment among the original transport equipment in the target alley, the plurality of equipment areas are divided into a plurality of target equipment areas based on the number of equipment; The plurality of target device areas include the target device area associated with the first handling device and the target device areas associated with the other handling devices respectively.

38. The method according to claim 33, wherein, The device region includes multiple region units, and the task-to-be-executed information includes the amount of tasks to be executed corresponding to each region unit in each device region. Dividing the multiple device regions into multiple target device regions based on the device operation information and / or the task-to-be-executed information includes: Based on the amount of tasks to be executed corresponding to each area unit in each of the aforementioned device areas, the multiple device areas are divided into multiple target device areas; Wherein, the regional units within the target device area are continuous, and the difference in the amount of tasks to be executed between any two target device areas is less than a preset threshold.

39. The method according to claim 33, wherein, The step of dividing the multiple device areas into multiple target device areas based on the device operation information and / or the task information to be executed, and determining the target device area associated with each of the transport devices within the multiple target device areas, includes: Based on the number of the multiple handling devices, the multiple device areas are divided into a first device area set including multiple first device areas, and a first association relationship is established between the multiple handling devices and the multiple first device areas; the first association relationship is used to indicate the first device area associated with each of the handling devices; Based on the preset area update rules, the first device area set, and the first association relationship, a second device area set including multiple second device areas is determined, and a second association relationship is established between the multiple handling devices and the multiple second device areas; the second association relationship is used to indicate the second device area associated with each of the handling devices; Based on the device operation information and the task information to be executed, the first region update cost corresponding to the first association and the second region update cost corresponding to the second association are determined. Based on the first region update cost and the second region update cost, the first device region set and the first association are iteratively updated until the iteration end condition is met, and the updated first device region set and the updated first association are obtained. Based on the updated first device region set, the plurality of target device regions are determined, and based on the updated first association relationship, the target device region associated with each of the transport devices is determined.

40. The method according to claim 39, wherein, The equipment area includes multiple area units. Based on the number of the multiple handling devices, the multiple equipment areas are divided into a first equipment area set, which includes multiple first equipment areas. A first association relationship is established between the multiple handling devices and the multiple first equipment areas, including: Based on the number of the multiple handling devices, the multiple device areas are divided into regional units to obtain the multiple first device areas. Each first device area includes at least one regional unit, and the regional units within the first device area are continuous. Each of the first equipment areas is assigned to a corresponding handling equipment to establish a first association between the multiple handling equipment and the multiple first equipment areas.

41. The method according to claim 39, wherein, The device area includes multiple area units, and the preset area update rule includes at least one of a first unit transmission rule, a second unit transmission rule, and an area exchange rule; the method further includes: Based on the first usage probability of the first unit transmission rule, the second usage probability of the second unit transmission rule, and the third usage probability of the area exchange rule, the rule with the highest usage probability among the first unit transmission rule, the second unit transmission rule, and the area exchange rule is determined as the target rule; the sum of the probabilities of the first usage probability, the second usage probability, and the third usage probability is 1; The process of determining a second device region set including multiple second device regions based on preset region update rules, the first device region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second device regions, includes: Based on the target rules, the first set of equipment regions, and the first association relationship, a second set of equipment regions including multiple second equipment regions is determined, and a second association relationship is established between the multiple handling devices and the multiple second equipment regions.

42. The method according to claim 41, wherein, The step of determining a second equipment region set including multiple second equipment regions based on the target rule, the first equipment region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second equipment regions, includes: When the target rule is the first unit transfer rule, based on the first unit transfer rule, the number of regional units in each of the first device regions and the positional relationship of each of the first device regions, the last regional unit in the previous first device region of any two adjacent first device regions is divided into the next first device region along the first transfer direction to obtain the second device region set; the number of regional units in the previous first device region is greater than 1. Each of the second equipment areas is assigned to a corresponding handling equipment to establish a second association between the plurality of handling equipment and the plurality of second equipment areas.

43. The method according to claim 41, wherein, The step of determining a second equipment region set including multiple second equipment regions based on the target rule, the first equipment region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second equipment regions, includes: When the target rule is the second unit transfer rule, based on the second unit transfer rule, the number of regional units in each first device region and the positional relationship of each first device region, the last regional unit in the previous first device region is divided into the next first device region along the second transfer direction until the processing of all first device regions is completed, and the second device region set is obtained, wherein the number of regional units in the previous first device region is greater than 1. Each of the second equipment areas is assigned to a corresponding handling equipment to establish a second association between the plurality of handling equipment and the plurality of second equipment areas.

44. The method according to claim 41, wherein, The step of determining a second equipment region set including multiple second equipment regions based on the target rule, the first equipment region set, and the first association relationship, and establishing a second association relationship between the multiple handling devices and the multiple second equipment regions, includes: When the target rule is the area exchange rule, based on the first device area set and the first association relationship, the first device area set is determined as the second device area set, and the first device areas associated with any two handling devices in the first association relationship are exchanged to establish the second association relationship.

45. The method according to claim 39, wherein, The step of iteratively updating the first device region set and the first association relationship based on the first region update cost and the second region update cost until the iteration termination condition is met, to obtain the updated first device region set and the updated first association relationship, includes: Based on the update cost of the first region and the update cost of the second region, the target device region set and target association relationship are determined; Based on the preset area update rule, the second device area set is updated to obtain a third device area set including multiple third device areas, and a third association relationship is established between the multiple handling devices and the multiple third device areas. The third association relationship is used to indicate the third device area associated with each of the handling devices. Based on the third region update cost corresponding to the third association and the region update cost corresponding to the target association, the target device region set and the target association are updated; The process involves determining whether the iteration termination condition is met. If met, the updated first device region set is determined based on the target device region set, and the updated first association relationship is determined based on the target association relationship. If not met, the process returns to updating the second device region set based on the preset region update rule to obtain a third device region set including multiple third device regions, and establishing a third association relationship between the multiple handling devices and the multiple third device regions.

46. ​​The method according to claim 39, wherein, The step of determining the first region update cost corresponding to the first association and the second region update cost corresponding to the second association based on the device operation information and the task to be executed information includes: Based on the equipment operation information, the task information to be executed, and the first association relationship, the first moving distance of each of the transport devices to the associated target equipment area and the first task quantity to be executed corresponding to each target equipment area are determined. Based on the equipment operation information, the task information to be executed, and the second association relationship, the second moving distance of each of the transport devices to the associated target equipment area and the second task quantity corresponding to each target equipment area are determined. Input the first moving distance and / or the first amount of task to be executed into the region update cost function to obtain the first region update cost; The second movement distance and / or the second task quantity to be executed are input into the region update cost function to obtain the second region update cost.

47. The method according to claim 45, wherein, Determining whether the iteration termination condition is met includes: Based on the iteration termination condition, determine whether the target device region set is the optimal device region set, and whether the number of iterations has reached the maximum number threshold. If the target device region set is determined to be the optimal device region set, and / or the number of iterations reaches the maximum number threshold, then the iteration termination condition is determined to be satisfied. If it is determined that the target device region set is not the optimal device region set, or if the number of iterations has not reached the maximum number threshold, then the iteration termination condition is not met.

48. The method according to claim 45, wherein, The step of determining the target device region set and target association relationship based on the first region update cost and the second region update cost includes: If the update cost of the second region is less than the update cost of the first region, the second device region set is determined as the target device region set; If the update cost of the second region is greater than or equal to the update cost of the first region, the acceptance probability of the update cost of the second region is determined, and the target device region set is determined in the first device region set and the second device region set based on the acceptance probability. The acceptance probability is determined by the simulated annealing algorithm.

49. A method for scheduling equipment, the method comprising: Obtain equipment operation information for multiple handling devices. The equipment operation information includes the current equipment area where each of the multiple handling devices is located, and the initial equipment area associated with each of the handling devices. The handling devices are used to perform handling tasks in their associated initial equipment areas. If there is a blocking transport device on the path of the third transport device to its associated first initial equipment area, based on the equipment operation information, a fourth transport device is identified among the blocking transport devices, and a second initial equipment area associated with the fourth transport device is determined. The third transport device and the fourth transport device are different, and the plurality of transport devices includes the third transport device and the fourth transport device. The association between the fourth transport device and the first initial device area is established, and a second area update instruction is sent to the fourth transport device. The second area update instruction is used to instruct the fourth transport device to move to the first initial device area to replace the third transport device in performing the transport task in the first initial device area.

50. The method according to claim 49, further comprising: If there are no other handling devices besides the fourth handling device in the blocking handling device, establish the association between the third handling device and the second initial device area, and send a third area update command to the third handling device; The third area update instruction is used to instruct the third handling device to move to the second initial device area, so as to replace the fourth handling device in performing the handling task in the second initial device area.

51. The method according to claim 49, further comprising: If there are other handling devices besides the fourth handling device in the blocking handling device, the third initial device area associated with the third handling device and the fourth initial device area associated with the other handling devices are determined based on the equipment operation information of the third handling device and the other handling devices. A fourth area update instruction is sent to the third transport device, the fourth area update instruction being used to instruct the third transport device to move to the third initial device area in order to perform a transport task in the third initial device area; A fifth area update instruction is sent to the other handling equipment, the fifth area update instruction being used to instruct the other handling equipment to move to the fourth initial equipment area to perform handling tasks in the fourth initial equipment area.

52. The method according to claim 49, wherein the plurality of transport devices operate in a plurality of lanes, the lanes including at least one equipment area, the equipment operation information including path information of each of the plurality of transport devices, and the method further comprising: Based on the current equipment area of ​​each of the plurality of transport devices, the first current equipment area of ​​the third transport device is determined, and the lane where the first current equipment area is located is determined as the first current lane, and the lane where the first initial equipment area is located is determined as the first target lane; Based on the path information of the transport equipment in the first current lane and the first target lane, it is determined whether there is any obstructing transport equipment on the path of the third transport equipment to its associated first initial equipment area.

53. The method according to claim 49, wherein, The step of determining a fourth handling device among the blocking and handling devices based on the equipment operation information includes: Based on the equipment operation information, a set of transport equipment and a set of equipment regions are determined. The set of transport equipment consists of the third transport equipment and the blocking transport equipment. The set of equipment regions consists of the first current equipment region where the third transport equipment is located and the current equipment region where the blocking transport equipment is located. Determine the predicted distance from each handling device in the handling equipment cluster to each equipment area in the equipment area cluster; Based on the predicted distances from each transport device in the transport equipment set to each equipment area in the equipment area set, the fourth transport device is determined in the transport equipment set.

54. The method according to claim 53, wherein, The step of determining the fourth handling device in the handling device set based on the predicted distances from each handling device in the handling device set to each device area in the device area set includes: Based on the predicted distances from each of the transport devices in the transport device set to each of the device areas in the device area set, a distance matrix is ​​established. The distance matrix is ​​used to indicate the predicted distances from any transport device in the transport device set to each of the device areas in the device area set. The distance matrix is ​​reduced, and based on the result of the reduction, a target region allocation rule is determined. The target region allocation rule is used to indicate the association between each of the transport equipment in the transport equipment set and each of the equipment regions in the equipment region set. Based on the target area allocation rules, the transport equipment that is centrally allocated to the first initial equipment area is determined as the fourth transport equipment.

55. The method according to claim 53, wherein, Determining the predicted distance from each handling device in the handling equipment set to each equipment area in the equipment area set includes: For any transport device in the transport equipment set, the path from any transport device to each of the equipment areas in the equipment area set is planned to obtain multiple planned paths corresponding to any transport device; Based on the multiple planned paths, the predicted distance from any transport device to each of the equipment areas in the equipment area set is determined.

56. The method according to claim 55, wherein, The planned path passes through at least one equipment area, and the at least one equipment area includes at least one cell. Determining the predicted distance from any transport device to each of the equipment areas in the set of equipment areas, based on the multiple planned paths, includes: Based on the number of cells in all equipment areas traversed by the planned path, the predicted distance from any transport device to the equipment area corresponding to the planned path in the equipment area set is determined.

57. The method according to claim 54, further comprising: Based on the result of the reduction process, if it is determined that there are multiple region allocation rules between each of the transport equipment in the transport equipment set and each of the equipment regions in the equipment region set, the distance cost corresponding to each of the multiple region allocation rules is determined. The region allocation rule with the minimum distance cost among the multiple region allocation rules is determined as the target region allocation rule.

58. The method according to claim 57, wherein, Determining the distance cost corresponding to each of the plurality of region allocation rules includes: Based on the region allocation rules, the association relationship between each of the transport equipment in the transport equipment set and each of the equipment regions in the equipment region set is determined; Based on the association between each transport device in the transport equipment set and each equipment area in the equipment area set, the predicted distance from each transport device in the transport equipment set to its associated equipment area is used as the input of the distance cost function to obtain the cost value corresponding to each transport device. The distance cost function is a non-linear increasing function. The distance cost corresponding to each of the aforementioned handling devices is summed to obtain the distance cost corresponding to the region allocation rule.

59. The method according to claim 53, wherein, The step of determining the fourth handling device in the handling device set based on the predicted distances from each handling device in the handling device set to each device area in the device area set includes: Based on the predicted distances from each transport device in the transport equipment group to each equipment area in the equipment area group, the transport device with the shortest predicted distance to the first initial equipment area is determined as the fourth transport device.

60. The method of claim 49, further comprising, after sending the second area update instruction to the fourth conveying device: Based on the second current equipment area where the fourth transport device is located and the first initial equipment area, a first target planning path corresponding to the fourth transport device is generated; A first path update instruction is sent to the fourth transport device, which instructs the fourth transport device to travel along the first target planned path to move from the second current device area to the first initial device area.

61. The method of claim 50, further comprising, after sending a third area update instruction to the third conveying device: Based on the first current equipment area and the second initial equipment area where the third transport equipment is located, a second target planning path corresponding to the third transport equipment is generated; A second path update instruction is sent to the third transport device, the second path update instruction being used to instruct the third transport device to travel according to the second target planned path, so as to move from the first current device area to the second initial device area.

62. The method of claim 51, further comprising, after sending a fourth area update instruction to the third conveying device: Based on the first current equipment area where the third transport equipment is located and the third initial equipment area, a third target planning path corresponding to the third transport equipment is generated; A third path update instruction is sent to the third transport device, which instructs the third transport device to travel along the third target planned path to move from the first current device area to the third initial device area.

63. The method of claim 51, further comprising, after sending the fourth area update instruction to the other handling equipment: Based on the current equipment area where the other handling equipment is located and the fourth initial equipment area, a fourth target planning path is generated for the other handling equipment; A fourth path update instruction is sent to the other handling equipment, which instructs the other handling equipment to travel according to the fourth target planned path to move from the current equipment area where the other handling equipment is located to the fourth initial equipment area.

64. An equipment scheduling system, the system comprising: Multiple handling devices, which are used to perform handling tasks in their associated equipment areas; Multiple equipment areas, each equipment area being associated with a corresponding handling equipment, the multiple equipment areas including the equipment areas associated with each of the handling equipment; A control device is configured to, in the event of a target event affecting task execution occurring in a storage area, acquire equipment operation information of a plurality of handling devices associated with the target event, and task information to be executed in the plurality of equipment areas, wherein the equipment operation information includes the current equipment area where each of the plurality of handling devices is located; based on the equipment operation information and / or the task information to be executed, determine a target equipment area associated with each of the handling devices in the plurality of equipment areas; send an area update instruction to the handling device to instruct the handling device to arrive at the associated target equipment area, and perform a handling task in the associated target equipment area.

65. An equipment scheduling system, the system comprising: At least one lane, the lane including a target lane, the target lane being any one of the at least one lanes, and the target lane including multiple equipment areas, the multiple equipment areas including equipment areas associated with each transport device in the target lane before the addition of a first transport device and / or the removal of a second transport device; Multiple transport devices, including transport devices to be operated in the target roadway when the first transport device is added and / or the second transport device is removed, the transport devices being used to perform transport tasks in their associated equipment areas; The control device is configured to, when the first transport device is added to the target roadway and / or the second transport device is removed, acquire equipment operation information of the plurality of transport devices and task information to be executed in the plurality of equipment areas in the target roadway. The equipment operation information includes the current equipment area where each of the plurality of transport devices is located. Based on the equipment operation information and / or the task information to be executed, the plurality of equipment areas are re-divided into a plurality of target equipment areas. The target equipment area associated with each of the transport devices is determined in the plurality of target equipment areas. If the target equipment area associated with a target transport device is different from its current equipment area, a first area update instruction is sent to the target transport device. The plurality of handling devices includes the target handling device, and the target handling device is configured to: obtain the first area update instruction, and establish an association between the target handling device and the corresponding target device area according to the first area update instruction, so as to perform a handling task in the target device area associated with the target handling device.

66. An equipment scheduling system, the system comprising: Multiple equipment zones, each of which is associated with a corresponding handling equipment; Multiple handling devices, which are used to perform handling tasks in their associated equipment areas; A control device is configured to acquire equipment operation information of the plurality of handling devices, the equipment operation information including the current equipment region where each of the plurality of handling devices is located, and the initial equipment region associated with each of the plurality of handling devices, the plurality of equipment regions including the current equipment region and the initial equipment region; If there is a blocking transport device on the path of the third transport device to its associated first initial equipment area, based on the equipment operation information, a fourth transport device is identified among the blocking transport devices, and the second initial equipment area associated with the fourth transport device is determined. And establish the association between the fourth transport device and the first initial device area, and send a second area update command to the second transport device; The fourth transport device is different from the third transport device, and the fourth transport device is configured to obtain the second area update instruction and move to the first initial device area according to the second area update instruction, so as to replace the third transport device in performing the transport task in the first initial device area.

67. The system according to claim 66, wherein the control device is further configured to: establish an association between the third transport device and the second initial device area when there are no other transport devices besides the fourth transport device in the blocking transport device, and send a third area update command to the third transport device; The third transport device is configured to acquire the third area update instruction and move to the second initial device area according to the third area update instruction, so as to replace the fourth transport device in performing the transport task in the second initial device area.

68. The system of claim 66, wherein the control device is further configured to: If there are other handling devices besides the fourth handling device in the blocking handling equipment, based on the equipment operation information of the third handling device and the other handling devices, a third initial equipment area associated with the third handling device and a fourth initial equipment area associated with the other handling devices are determined. A fourth area update command is sent to the third handling device, and a fifth area update command is sent to the other handling devices. The third handling device is configured to receive the fourth area update instruction and move to the third initial device area according to the fourth area update instruction to perform a handling task in the third initial device area; The other handling equipment is configured to receive the fifth region update instruction and move to the fourth initial equipment region according to the fifth region update instruction to perform handling tasks in the fourth initial equipment region. The plurality of handling equipment includes the other handling equipment.

69. The system according to any one of claims 66-68, wherein the plurality of transport devices operate in a plurality of lanes, the lanes including at least one of the plurality of device areas.

70. An electronic device comprising: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to perform the operation of the device scheduling method as described in any one of claims 1-63 by executing the executable instructions.

71. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the device scheduling method according to any one of claims 1-63.

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