CN113537855A - Scheduling method and device, warehousing system and storage medium - Google Patents
Scheduling method and device, warehousing system and storage medium Download PDFInfo
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Abstract
本申请实施例提供了调度方法、系统、仓储系统及存储介质，该方法包括：获取同一个巷道中的每一个容器的满箱率；基于同一个巷道中的每一个容器的满箱率，控制同一个巷道中的每一个容器的装填速度，使得同一个巷道中的每一个容器按照在时间上的次序依次被装满。针对任意一个巷道，在容器按照在时间上的次序依次被装满的过程中，容器更换操作执行者可以在不离开该巷道的情况下，依次对巷道中的每一个容器进行容器更换操作，避免了容器更换操作执行者频繁往返于多个巷道而造成更换容器的效率低的问题，提高更换容器的效率，进而提高调度效率。
Embodiments of the present application provide a scheduling method, system, storage system, and storage medium. The method includes: acquiring the full container rate of each container in the same lane; controlling the full container rate of each container in the same lane The filling speed of each container in the same lane is such that each container in the same lane is filled sequentially according to the time sequence. For any roadway, during the process that the containers are filled in the order of time, the operator of the container replacement operation can perform the container replacement operation for each container in the roadway in turn without leaving the roadway to avoid The problem of low efficiency of container replacement caused by frequent trips to and from multiple lanes by the container replacement operation executor is solved, the efficiency of container replacement is improved, and the scheduling efficiency is further improved.
Description
Technical Field
The application relates to the field of logistics, in particular to a scheduling method, a scheduling device, a warehousing system and a storage medium.
Background
The goods scheduling link is a basic link in the management of the warehouse. In the goods dispatching link, the feeding vehicle conveys goods from the feeding workstation to a feeding port needing the goods, the feeding vehicle puts the goods into the feeding port, and the goods finally enter a container corresponding to the feeding port and located below the feeding port.
All the feeding ports of the warehouse are distributed in a plurality of roadways. Correspondingly, the containers below each feed opening are also distributed in a plurality of roadways. In the goods dispatching link, every time a container is full, workers are required to come to a roadway where the full container is located to replace the full container, the container is moved out of a feeding port corresponding to the container, and the full container is replaced by an empty container.
At present, the problem often occurs when a full container is replaced in a tunnel, and when a worker replaces the full container, other containers in the tunnel are not full, and when a container in another tunnel is full, the worker needs to leave the tunnel and go to another tunnel to replace the container. The above description only illustrates the two lanes as an example, and when the number of lanes in the warehouse is large and the number of containers in each lane is large, the worker needs to frequently go to and fro among the lanes, the efficiency of replacing the containers is low, and the scheduling efficiency is affected.
Disclosure of Invention
In order to overcome the problems in the related art, the application provides a scheduling method, a scheduling device, a warehousing system and a storage medium.
According to a first aspect of embodiments of the present application, there is provided a scheduling method, including:
acquiring the full container rate of each container in the same roadway;
controlling the filling speed of each container in the same lane based on the full container rate of each container in the same lane so that each container in the same lane is filled in sequence in chronological order, the time interval between the filling moments of two containers adjacent at the filling moment in the same lane being related to the duration of one container change operation.
In some embodiments, two containers in the same lane that are adjacent at the time of filling are two containers in the same lane that are adjacent in position.
In some embodiments, for two adjacent lanes, the time interval between the filling time of the last filled container in a first lane of the two adjacent lanes and the filling time of the oldest filled container in a second lane of the two adjacent lanes is related to the length of a container change operation.
In some embodiments, the method further comprises:
upon receiving a request indicating to increase the filling speed of a container, the material charge related resources allocated to the corresponding material inlet of the container are increased.
In some embodiments, the method further comprises:
for each container in the same roadway, reducing the feeding-related resources allocated to the feeding port corresponding to the container under the condition that the container meets preset conditions, wherein the preset conditions comprise that: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
In some embodiments, reducing the dosing-related resources allocated to the corresponding dosing port of the container comprises:
reducing the number of feeding stations associated with the feeding ports corresponding to the containers; and/or the presence of a gas in the gas,
sending a processing operation execution instruction to a feeding workstation associated with a feeding port corresponding to the container to trigger execution of a processing operation, wherein the processing operation comprises: loading, at the dosing workstation, goods associated with the dosing port in a further dosing vehicle associated with a further dosing port, the goods required by the further dosing port comprising goods of the same class as the goods associated with the dosing port, and the full rate of containers corresponding to the further dosing port being less than an imminent full threshold.
In some embodiments, the method further comprises:
for each container in the same roadway, determining the upper limit value of the number of feeding vehicles going to a feeding port corresponding to the container under the condition that the container meets a preset condition;
at least one feeding vehicle which does not exceed the upper limit value of the quantity is dispatched to a feeding port corresponding to the container,
wherein the preset conditions include: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
In some embodiments, scheduling at least one of the plurality of feeding vehicles not exceeding the upper number limit to travel to the corresponding feeding port of the container comprises:
if the number of the feeding vehicles going to the feeding ports corresponding to the containers is larger than the upper limit value of the number, sending a waiting instruction to part of the feeding vehicles going to the feeding ports corresponding to the containers, so that the part of the feeding vehicles going to the feeding ports corresponding to the containers responds to the waiting instruction and runs to a preset waiting area for waiting; and/or the presence of a gas in the gas,
and if the number of the feeding vehicles currently going to the feeding port corresponding to the container is smaller than the upper limit value of the number, limiting the number of the newly distributed feeding vehicles going to the feeding port corresponding to the container, so that the total number of the feeding vehicles going to the feeding port corresponding to the container does not exceed the upper limit value of the number.
In some embodiments, the preset conditions further include: in a preset period of time after the container is full, container replacement cannot be performed for the container.
In some embodiments, the method further comprises:
and under the condition that the size relation between the full tank rates of two containers in the same roadway does not accord with the preset size relation, adjusting the filling speed of at least one container in the two containers so as to enable the size relation between the full tank rates of the two containers to accord with the preset size relation.
In some embodiments, the method further comprises:
allocating a container replacement operation performer for performing a container replacement operation to each lane based on a priority of each lane, wherein the number of container replacement operation performers allocated to each lane is related to the priority of each lane.
In some embodiments, the method further comprises:
determining a priority of container replacement operation for each lane based on the priority of each lane, wherein the priority of each lane is related to the priority of container replacement operation of each lane.
In some embodiments, the method further comprises:
upon receiving a request indicating to increase the filling speed of a container, the material charge related resources allocated to the corresponding material inlet of the container are increased.
According to a second aspect of the embodiments of the present application, there is provided a scheduling apparatus, including:
the acquisition unit is configured to acquire the full-box rate of each container in the same roadway;
a control unit configured to control a filling speed of each container in the same lane based on a full-bin rate of each container in the same lane so that each container in the same lane is filled sequentially in chronological order, a time interval between filling times of two containers adjacent at the filling time in the same lane being related to a time length of one container exchange operation.
In some embodiments, two containers in the same lane that are adjacent at the time of filling are two containers in the same lane that are adjacent in position.
In some embodiments, for two adjacent lanes, the time interval between the filling time of the last filled container in a first lane of the two adjacent lanes and the filling time of the oldest filled container in a second lane of the two adjacent lanes is related to the length of a container change operation.
In some embodiments, the apparatus further comprises:
a first resource allocation adjusting unit, configured to reduce, for each container in the same lane, the feeding-related resource allocated to the feeding port corresponding to the container if the container meets a preset condition, where the preset condition includes: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
In some embodiments, the first resource allocation adjustment unit is further configured to reduce the number of dosing stations associated with the corresponding dosing port of the container; and/or sending processing operation execution instructions to a feeding workstation associated with a feeding port corresponding to the container to trigger execution of processing operations, wherein the processing operations comprise: loading, at the dosing workstation, goods associated with the dosing port in a further dosing vehicle associated with a further dosing port, the goods required by the further dosing port comprising goods of the same class as the goods associated with the dosing port, and the full rate of containers corresponding to the further dosing port being less than an imminent full threshold.
In some embodiments, the apparatus further comprises:
the feeding vehicle scheduling unit is configured to determine the upper limit value of the number of feeding vehicles heading to a feeding port corresponding to each container in the same roadway under the condition that the container meets a preset condition; at least one feeding vehicle which does not exceed the upper limit value of the quantity is dispatched to go to a feeding port corresponding to the container, wherein the preset conditions comprise that: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
In some embodiments, the feeding vehicle dispatching unit is further configured to: if the number of the feeding vehicles going to the feeding ports corresponding to the containers is larger than the upper limit value of the number, sending a waiting instruction to part of the feeding vehicles going to the feeding ports corresponding to the containers, so that the part of the feeding vehicles going to the feeding ports corresponding to the containers responds to the waiting instruction and runs to a preset waiting area for waiting; and/or if the number of the feeding vehicles currently going to the feeding port corresponding to the container is smaller than the upper limit value of the number, limiting the number of the newly distributed feeding vehicles going to the feeding port corresponding to the container, so that the total number of the feeding vehicles going to the feeding port corresponding to the container does not exceed the upper limit value of the number.
In some embodiments, the preset conditions further include: in a preset period of time after the container is full, container replacement cannot be performed for the container.
In some embodiments, the apparatus further comprises:
the full-box-rate size relation adjusting unit is configured to adjust the filling speed of at least one container of the two containers so that the size relation between the full-box rates of the two containers conforms to a preset size relation under the condition that the size relation between the full-box rates of the two containers in the same roadway does not conform to the preset size relation.
In some embodiments, the apparatus further comprises:
a container replacement operation performer allocation unit configured to allocate a container replacement operation performer for performing a container replacement operation for each lane based on a priority of each lane, wherein the number of container replacement operation performers allocated for each lane is related to the priority of each lane.
In some embodiments, the apparatus further comprises:
a container replacement operation priority determination unit configured to determine a priority of a container replacement operation for each lane based on a priority of the each lane, wherein the priority of the each lane is related to the priority of the container replacement operation of the each lane.
In some embodiments, the apparatus further comprises:
a second resource allocation adjustment unit configured to increase the dosing-related resources allocated to the corresponding dosing port of the container, in case a request is received indicating to increase the filling speed of the container.
According to a third aspect of embodiments of the present application, there is provided a warehousing system comprising:
a charging station for loading goods associated with a charging opening corresponding to a container on a charging vehicle associated with the charging opening;
the feeding vehicle is used for feeding goods related to the feeding port;
a feeder port for receiving goods associated with the feeder port for delivery by a feeder vehicle;
a container for holding an article;
and the server is used for executing the scheduling method.
In some embodiments, the warehousing system further comprises: a container replacement operation executor for performing a container replacement operation for the container when the container is full,
the container exchange operation performer includes a transfer robot for transferring a container and a robot arm for placing a container on or removing a container from the transfer robot; and/or the presence of a gas in the gas,
the container changing operator comprises a transfer robot provided with a plurality of cargo spaces, each of which can be used for storing one of the containers, and a cargo access mechanism for moving the containers onto the cargo spaces and/or removing the containers stored on the cargo spaces.
According to a fourth aspect of embodiments of the present application, there is provided a storage medium, wherein instructions in the storage medium, when executed by a processor of a server, enable the server to perform the scheduling method described above.
The scheduling method, the scheduling device, the warehousing system and the storage medium provided by the embodiment of the application realize that the filling speed of each container in the same roadway is controlled based on the full container rate of each container in the same roadway, so that each container in the same roadway is sequentially filled according to the sequence in time. Aiming at any one roadway, in the process that each container in the roadway is sequentially filled according to the time sequence, a container replacement operator can sequentially perform container replacement operation on each container in the roadway under the condition that the container replacement operator does not leave the roadway, the problem that the container replacement efficiency is low due to the fact that the container replacement operator frequently moves to and fro in a plurality of roadways to perform container replacement is solved, the container replacement efficiency is improved, and the scheduling efficiency is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic diagram illustrating an effect of a warehouse to which a scheduling method provided by an embodiment of the present application is applied;
fig. 2 is a flowchart illustrating a scheduling method provided by an embodiment of the present application;
fig. 3 shows a block diagram of a scheduling apparatus according to an embodiment of the present application;
fig. 4 shows a block diagram of a server in a warehousing system provided in an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows an effect schematic diagram of a warehouse to which a scheduling method provided by an embodiment of the present application is applied.
In fig. 1, each roadway comprises 5 feed openings 101, which are shown by way of example.
At each of the dispensing openings 101 a ramp may be provided for bringing goods that are to be dispensed into the dispensing opening 101 into a container below the dispensing opening 101. The dispensing opening 101 may also be referred to as a chute opening.
For each feeder 101, one or more feeder stations 102 may be assigned to that feeder 101. At the one or more feeding stations 102, staff or automated equipment (e.g., a robot arm, etc.) picks up the arriving goods and places the goods to be fed to the feeding ports 101 onto the corresponding feeding vehicles, so that the loaded goods are transported by the feeding vehicles to the corresponding feeding ports 101. The one or more feeding stations 102 assigned to the feeding port 101 may be referred to as feeding stations 102 associated with the feeding port 101. Each feeding station 102 may be associated with one or more feeding ports 101.
Goods can enter the transfer branch connected to the feeding station 102 from the main transfer line and reach the feeding station 102 via the transfer branch connected to the feeding station 102. The goods associated with the feeder 101 are loaded on the feeder vehicle associated with the feeder 101 by personnel or automated equipment of the feeder workstation 102. The number of dispensing vehicles associated with the dispensing port 101 may be one or more. The goods associated with the feeder 101 are thrown into the feeder 101 by the feeder vehicle associated with this feeder 101 and the goods associated with the feeder 101 eventually pass the slope of the feeder 101 into the container corresponding to the feeder 101, i.e. the container below the feeder 101.
The tender vehicle may carry goods and transport the goods from one location to another. For example, the feeding Vehicle may be an AGV (Automated Guided Vehicle). Types of AGVs may include, but are not limited to, flap AGVs, transfer AGVs with rollers/conveyor belts on top. The AGV can move within the shaded area, which can be at a certain height from the floor.
For example, after the AGV reaches a material inlet 101, the goods can be placed on a flap on the top of the AGV, one end of the flap is lifted to dump the goods onto the slope of the material inlet 101, and the goods finally enter the container corresponding to the material inlet 101, namely the container below the material inlet 101.
For example, after the AGV with rollers or a conveyor belt on the top reaches a material inlet 101, the goods can be placed on the rollers or the conveyor belt, and the goods are moved out and dropped onto the slope of the material inlet 101 by the rotation of the rollers or the conveyor belt, and finally enter the container corresponding to the material inlet 101, namely the container below the material inlet 101.
For each of the material inlet 101, when the full rate of the container below the material inlet 101 reaches 100%, that is, the container below the material inlet 101 is full, the container replacement operation is performed for the container below the material inlet 101, and the full container is replaced with an empty container.
The container replacement operation is performed by a container replacement operation performer. Each operation performer is one of the following: the container replacing system comprises a worker, a carrying robot, a mechanical arm and a carrying robot, wherein the worker is responsible for replacing a container, and the carrying robot is provided with a plurality of goods positions and a goods storing and taking mechanism.
When a container is subjected to a container exchange operation for the container by a transfer robot and a robot arm for placing the container on the transfer robot or removing the container from the transfer robot when the container is full, the transfer robot is used to transfer the container.
When a container is fully loaded and is subjected to a container replacement operation by a transfer robot provided with a plurality of cargo spaces and a cargo access mechanism, each cargo space on the transfer robot can be used for storing one container, and the cargo access mechanism is used for moving the container to the cargo space and/or taking the container stored on the cargo space down.
The scheduling method provided by the embodiment of the application can be executed by a server in the warehousing system. Each of the feeding workstations 102 may be communicatively connected to a server via a wired network or a wireless network. Each of the charging vehicles may be communicatively connected to the server via a wireless network.
Fig. 2 shows a flowchart of a scheduling method provided in an embodiment of the present application, where the method includes:
In the present application, the full-tank rate of a container may indicate how much percent of the total space of the container is occupied.
For example, a full tank rate of 50% of the container may indicate that 50% of the total space of the container is occupied. For example, a full tank rate of 75% of the container may indicate that 75% of the total space of the container is occupied. A full bin ratio of 95% may indicate that 95% of the total space of the container is occupied.
In this application, to each container in any one tunnel, can set up the camera above the dog-house that this container corresponds, the inside image of this container can be shot to the camera. The image recognition can be carried out on the internal image of the container, the outline of the free space and the outline of the space occupied by the goods are determined, therefore, the volume of the free space or the volume of the space occupied by the goods can be determined, and the full container rate of the container is calculated according to the volume of the free space or the volume of the space occupied by the goods and the total volume of the container known in advance.
In the present application, for each container in any one lane, the full rate of the container may also be calculated based on the volume and number of items in the container. The volume of the space occupied by the goods stored in the container can be determined according to the recorded volume of the single goods of each kind of goods stored in the container and the number of each kind of goods, and the full rate of the container can be calculated according to the volume of the space occupied by the goods stored in the container and the known total volume of the container in advance. Meanwhile, whether goods newly input into the container exceed the extension of the container or not can be determined through raster detection, and whether the container is full or not, namely whether the full rate of the container reaches 100% or not can be determined. The full tank rate of the container is estimated, and the raster detection can avoid the situation that the full tank rate actually reaches 100% and is determined not to reach 100% due to the error of the estimation result.
And 202, controlling the filling speed of each container in the same tunnel based on the full container rate of each container in the same tunnel, so that each container in the same tunnel is sequentially filled in a chronological order.
The same lane in the step 201-202 is not particularly specified to a certain lane. For each lane in the warehouse, the filling speed of each container located in the lane can be controlled by performing step 201 and step 202.
For any one roadway, step 201 and step 202 can be executed at intervals of preset duration, the full container rate of each container in the roadway is timely obtained, the filling speed of each container in the roadway is timely controlled based on the full container rate of each container in the roadway, finally, each container in the roadway is sequentially filled according to the sequence of time, and the process of sequentially filling each container in the roadway is completed once. Then, the step 201 and 202 are executed continuously at preset time intervals, so that each container in the roadway is filled in sequence again according to the sequence in time, and so on.
In the application, for any one lane, in the process of filling each container in the lane in turn according to the chronological order at any time, the filling speed of each container in the lane is controlled, so that the time interval between the filling moments of two adjacent containers at the filling moment in the lane is related to the duration of one container replacement operation, and finally, each container in the lane is filled in turn according to the chronological order.
For each container in a lane, each time the filling speed of the container is controlled based on the full tank rate of the container, the filling speed of the container may be increased or maintained or decreased based on the full tank rate of the container.
For each container in a lane, the resources associated with the dosing of the corresponding dosing port of the container may be increased or maintained or decreased to increase or maintain the filling speed of the container or decrease the filling speed of the container.
For example, for each container in a lane, the number of dosing stations assigned to the bin's corresponding inlet may be increased or maintained or decreased, the number of single doses to the bin's corresponding inlet may also be increased or maintained or decreased, etc., to control the filling rate of the container.
The greater the number of dosing stations associated with the respective dosing port allocated, the faster the filling speed of the container and the faster the filling of the container, given the same other filling speed related resources. The greater the number of single charges, the faster the filling speed of the container, and the faster the filling of the container, all other things being equal to the resources associated with the filling speed.
The above-described increase or maintenance or decrease in the number of dosing stations associated with the respective dosing port of the container, the number of single doses, to control the filling speed of the container is exemplary. For any type of resource related to the filling speed of containers, the control of the filling speed of containers in the same lane can be made by increasing or maintaining or decreasing.
For each container in a lane, the filling time of the container may refer to the time when the container is full, i.e. the container has a full rate of 100%, and a container replacement operation is required for the container.
For a lane, the time interval between the filling moments of two containers adjacent at the filling moment in the lane during each successive filling of each container in the lane in chronological order is related to the duration of a container change operation.
For a lane, during each successive filling of each container in the lane in chronological order, the time interval in the lane between the filling moments of two adjacent containers at the filling moments in relation to the duration of a container changing operation may comprise: the time interval between the filling moments of two containers adjacent at the filling moment in the lane is equal to the duration of one container changing operation, or the time interval between the filling moments of two containers adjacent at the filling moment in the lane is less than the duration of one container changing operation.
For a tunnel, because the time interval between the filling moments of two adjacent containers at the filling moment is related to the duration of one container replacing operation, in the process that each container in the tunnel is sequentially filled according to the chronological order at any time, after the container replacing operation of one container in the tunnel is completed each time, another container is filled, and a container replacing operation executor can continue to perform the container replacing operation on the other container. Therefore, after the container replacement operator arrives at the roadway, the container replacement operator can sequentially perform the container replacement operation on each container in the roadway without leaving the roadway, and the container replacement efficiency is improved.
For a lane, the server may notify the container replacement operator that the lane can be traveled to when the container that was filled the earliest in time in the lane is full each time each container in the lane is sequentially filled in chronological order. For example, the container replacement operator is a worker who is responsible for replacing the container, and the server may send an instruction to a terminal of the worker to notify the worker that the worker may go to the lane.
The following illustrates the process of performing a container exchange operation for each container in a lane in turn during the filling of each container in the lane in turn in chronological order for a lane. For any roadway, in the process that each container in any roadway is sequentially filled according to the chronological order, the process of sequentially carrying out the container replacement operation on each container in the roadway can be referred to.
Assume that the roadway includes container a, container B, container C, and container D. When the container a is full, the container B is nearly full, for example, the full rate of the container B reaches 95%, the container C is half full, that is, the full rate of the container C reaches 50%, and the container D is in a state where the loading of the goods is just started. In the process that each container in the roadway is sequentially filled according to the chronological order, the filling time is the container A, the container B, the container C and the container D from early to late.
For two containers, such as the container a and the container B, which are adjacent at the time of filling, the time interval between the time of filling the previous container (such as the container a) and the time of filling the next container (such as the container B) is equal to the time period of one container exchange operation or less than the time period of one container exchange operation to ensure that the container exchange operation performer is filled with the next container at the time when the performance of the container exchange operation for the previous container is completed. Thus, the operator of the container replacement operation can replace the former container in the same tunnel and then replace the latter container.
When a container is full, the server may notify the container replacement operator to go to the lane. The container replacement operator performs a container replacement operation on the container. The container replacement operation performed by the container replacement operation performer for the container may include: the full container is removed from under the dispensing opening and an empty container for replacing the container is placed under the dispensing opening, while the full container can be placed at a given position or on a given handling device. The two containers adjacent to each other at the filling time are not particularly limited to two containers adjacent to each other at the filling time, and for any two containers adjacent to each other at the filling time in the same lane, the two containers adjacent to each other at the filling time may be two containers adjacent to each other at the position, or two containers not adjacent to each other at the position, which is not limited in the present application.
In some embodiments, two containers in the same lane that are adjacent at the time of filling are two containers in the same lane that are adjacent in position. For a tunnel, in the case that two containers adjacent to each other at the time of filling in the tunnel are two containers adjacent to each other at the position in the tunnel, the container replacement operator can move to another container which is close to the container after replacing one container in the tunnel, and continue the container replacement operation, thereby reducing the distance moved by the container replacement operator between the containers in the tunnel, and further improving the efficiency of container replacement.
In some embodiments, for two adjacent lanes, the time interval between the filling time of the last filled container in a first lane of the two adjacent lanes and the filling time of the oldest filled container in a second lane of the two adjacent lanes is related to the duration of one container change operation.
The two adjacent lanes do not refer to any two lanes specifically, and for any two adjacent lanes, the time interval between the filling time of the last filled container in the first lane of the two adjacent lanes and the filling time of the earliest filled container in the second lane of the two adjacent lanes is related to the duration of one container replacement operation.
The time interval between the filling of the last filled container in a first one of the two adjacent lanes and the filling of the oldest filled container in a second one of the two adjacent lanes being less than in relation to the length of a container changing operation may comprise: the time interval between the filling time of the last filled container and the filling time of the oldest filled container is equal to the duration of one container exchange operation, or the time interval between the filling time of the last filled container and the filling time of the oldest filled container is less than the duration of one container exchange operation.
For two adjacent roadways, after the container replacement operation executor completes the container replacement operation on the last filled container in the first roadway, the operator can go to a second roadway which is close to the first roadway in position, and container replacement operation is sequentially performed on each container in the second roadway from the earliest filled container in the second roadway, so that the moving distance of the container replacement operation executor between the roadways is reduced, and the container replacement efficiency is further improved.
For example, a first lane of two adjacent lanes includes container a, container B, container C, and container D. In the process that each container in the first lane is sequentially filled according to the chronological order, the filling time is the container A, the container B, the container C and the container D from early to late. The second roadway of two adjacent roadways comprises a container E, a container F, a container G and a container H. In the process that each container in the second lane is sequentially filled according to the chronological order, the filling time is the container E, the container F, the container G and the container H from early to late.
The filling time of the last filled container D in the first lane is earlier than the filling time of the oldest filled container E in the second lane. The time interval between the filling moment of the last filled container D in the first lane and the filling moment of the oldest filled container E in the second lane may be equal to or less than the duration of one container exchange operation. After the container replacement operation performer completes the container replacement operation on the last filled container D in the first lane, the container replacement performer may go to a second lane which is located at a short distance from the first lane, and perform the container replacement operation on each container in the second lane in sequence, starting from the oldest filled container E in the second lane.
In some embodiments, further comprising: for each container in the same roadway, reducing the feeding-related resources allocated to the feeding port corresponding to the container under the condition that the container meets the preset conditions, wherein the preset conditions comprise that: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
The imminent full threshold is a threshold indicating that the container is imminent full. For example, the soon-to-fill threshold is 95%.
For each container in a lane, the material-related resources allocated to the corresponding feed opening of the container may be reduced in the event that the container meets a predetermined condition, for example, the container has a full-tank rate of 95%. For example, the number of single shots of the corresponding inlet of the container is reduced, the number of feeding stations associated with the corresponding inlet of the container is reduced.
In some embodiments, for each container in the same lane, in the event that the container meets a preset condition, reducing the feed-related resources allocated to the corresponding feeder port of the container comprises: reducing the number of feeding stations associated with the feeding ports corresponding to the containers; and/or sending processing operation execution instructions to a feeding workstation associated with a feeding port corresponding to the container to trigger execution of processing operations, wherein the processing operations comprise: loading the goods associated with the feeder port in other feeder vehicles associated with another feeder port at the feeding workstation, wherein the goods required by the other feeder port comprise the same kind of goods as the goods associated with the feeder port, and the full rate of the container corresponding to the other feeder port is less than the threshold value of being full.
For each container in a lane, the number of feeding stations associated with the bin corresponding to the container may be reduced in reducing the feeding-related resources allocated to the bin corresponding to the container if the container meets a preset condition. The server may send instructions to at least one of all of the feeding stations currently associated with the feeder port to cause the at least one of all of the feeding stations associated with the feeder port to suspend processing of items associated with the feeder port, thereby reducing the number of feeding stations associated with the feeder port corresponding to the container.
For each container in a lane, the server may send a processing operation execution instruction to the feeding workstation associated with the feeder port corresponding to the container to trigger execution of a processing operation when the container meets a preset condition and the feeding-related resources allocated to the feeder port corresponding to the container are reduced. The processing operations include: at the charging station associated with the feeder port, the goods associated with the feeder port are loaded on the other charging vehicle associated with the other feeder port, into which the goods associated with the feeder port are charged by the charging vehicle associated with the other feeder port.
In some embodiments, further comprising: for each container in the same roadway, determining the upper limit value of the number of feeding vehicles going to the feeding port corresponding to the container under the condition that the container meets preset conditions; at least one feeding vehicle which does not exceed the upper limit value of the number is dispatched to go to a feeding port corresponding to the container, wherein the preset conditions comprise that: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
For each container in a roadway, in the case that the container meets a preset condition, for example, the full container rate of the container reaches 95%, the number of the charging vehicles heading for the corresponding feeding port of the container may be limited, so that the number of the charging vehicles heading for the corresponding feeding port of the container does not exceed the upper limit value of the number. The feeding vehicle going to the feeding port corresponding to the container is the feeding vehicle associated with the feeding port corresponding to the container.
If the number of the feeding vehicles currently going to the feeding port corresponding to the container exceeds the upper limit value of the number, the feeding vehicles not exceeding the upper limit value of the number can be selected from the feeding vehicles currently going to the feeding port corresponding to the container as the feeding vehicles continuing to go to the feeding port corresponding to the container, and a driving pause instruction can be sent to other vehicles except the selected feeding vehicles, so that the other feeding vehicles pause driving.
For each container in a roadway, historical feeding process data of a feeding port corresponding to the container can be analyzed, and the number of feeding vehicles for feeding the feeding port is estimated when the full-box rate of the container is equal to the full-box rate of the current container in the historical feeding process. Then, the number of the charging vehicles may be set as the upper limit value of the number.
In some embodiments, scheduling at least one of the plurality of feeding vehicles not exceeding the upper limit number to travel to the corresponding feeding port of the container comprises: if the number of the feeding vehicles going to the feeding port corresponding to the container is larger than the upper limit value of the number, sending a waiting instruction to part of the feeding vehicles going to the feeding port corresponding to the container, so that the part of the feeding vehicles going to the feeding port corresponding to the container responds to the waiting instruction and runs to a preset waiting area for waiting; and/or if the number of the feeding vehicles currently going to the feeding port corresponding to the container is smaller than the upper limit value of the number, limiting the number of the newly distributed feeding vehicles going to the feeding port corresponding to the container, so that the total number of the feeding vehicles going to the feeding port corresponding to the container does not exceed the upper limit value of the number.
In the case that the total number of the delivery vehicles currently heading for the feeder is less than the upper number limit, the goods associated with the feeder may continue to be loaded on the delivery vehicles stopped at the feeding station, so that the number of delivery vehicles heading for the feeder continues to be increased, but not to exceed the determined upper number limit minus the total number of delivery vehicles currently heading for the feeder. Thereby, it is ensured that the total number of charging vehicles heading for the charging opening does not exceed the upper number limit.
In the case that the total number of the charging vehicles currently heading for the charging port is already greater than the upper limit value of the number, the target vehicle with the upper limit value of the number can be selected from all the charging vehicles heading for the charging port to continue heading for the charging port. Meanwhile, a waiting instruction can be sent to each vehicle except the target vehicle, which goes to the feeding port, so that each vehicle does not go to the feeding port temporarily and runs to a preset waiting area for waiting in response to the waiting instruction.
In some embodiments, the preset conditions further include: in a preset period of time after the container is full, the container cannot be replaced with respect to the container.
For each container in a lane, in the case that the container is not full and the full rate of the container is greater than or equal to the imminent full threshold, and a container replacement operation cannot be performed for the container within a preset time period after the container is full, the material-related resources allocated to the material inlet corresponding to the container can be reduced and/or at least one material-feeding vehicle not exceeding the upper limit value of the number is scheduled to go to the material inlet corresponding to the container.
For example, a container is the container which has the fastest filling speed in a tunnel and is filled at the earliest, the full container rate of the container reaches 95%, but all current container replacement operation executors are working in other tunnels currently, and no container replacement operation executors can go to the tunnel to perform container replacement operation on the container within a preset time period after the container is filled. The material-related resources allocated to the material inlet corresponding to the container can be reduced and/or at least one material-feeding vehicle not exceeding an upper limit value of the number can be scheduled to go to the material inlet corresponding to the container.
In some embodiments, further comprising: and under the condition that the size relationship between the full tank rates of the two containers in the same roadway does not accord with the preset size relationship, adjusting the filling speed of at least one container in the two containers so as to enable the size relationship between the full tank rates of the two containers to accord with the preset size relationship.
The two containers do not refer to a specific two containers. For any two containers in the same roadway, the preset size relationship of the two containers on the full container rate can be preset. The preset size relationship of the two containers on the full-box rate can be set by the staff involved in the scheduling. The preset size relationship of the two containers on the full container rate can indicate the sequence of the two containers on the filling time in the process that each container in the roadway is filled according to the chronological order.
For a roadway, under the condition that the size relationship between the full tank rates of two containers in the roadway does not accord with the preset size relationship, the filling speed of at least one container in the two containers can be adjusted, so that the size relationship between the full tank rates of the two containers accords with the preset size relationship.
For example, for a lane, the lane includes container a, container B, container C, container D. The preset size relationship between the containers C and D at the full rate is that the full rate of the containers C is greater than the full rate of the containers D, and the preset size relationship between the containers C and D at the full rate indicates that the containers C should be filled earlier than the containers D during the filling of each container in the lane in chronological order. But the current full rate of containers C is less than the full rate of containers D, the charge-related resources allocated to the corresponding outlets of containers C may be increased to increase the filling rate of containers C and/or decreased to decrease the filling rate of containers D. Therefore, after a certain period of time, the full-box rate of the container C is greater than that of the container D, and the size relationship between the container C and the container D in the full-box rate conforms to the preset size relationship.
In some embodiments, further comprising: and allocating container replacement operation executors of the container replacement operation to each lane based on the priority of each lane, wherein the number of the container replacement operation executors allocated to each lane is related to the priority of each lane.
The higher the priority of the lane, the greater the number of container replacement operation executors assigned to the lane. For example, the higher the priority of a lane, the more workers may be allocated to be responsible for container changing operations on the lane.
In some embodiments, further comprising: determining a priority of container replacement operation for each lane based on the priority of each lane, wherein the priority of each lane is related to the priority of container replacement operation of each lane.
The higher the priority of the lane, the higher the operation priority of the container replacement operation performed for the container in the lane. The higher the operation priority of the container replacement operation performed for the container in the tunnel, the earlier the container replacement operation is performed for the container in the tunnel.
When the two roadways need to be subjected to container replacement operation by the same container replacement operation executor, the container replacement operation executor preferentially performs container replacement operation on the roadway with high priority.
In some embodiments, further comprising: upon receiving a request indicating to increase the filling speed of a container, the material charge related resources allocated to the corresponding material inlet of the container are increased.
For each container in a lane, a request may be sent by a scheduling staff using a terminal indicating a filling speed to raise the container in case the container is required to fill as quickly as possible. The server may receive a request indicative of a fill speed of a container, and in response to the request indicative of the fill speed of the container, increase the batch-related resources allocated to the corresponding batch port of the container to increase the fill speed of the container.
For example, when it is desired to increase the filling rate of a container, a new dosing station associated with the corresponding inlet of the container may be added on the basis of the already allocated dosing station associated with the corresponding inlet of the container. Thus, there are more batching stations associated with the respective batch inlet of the container for sorting the goods associated with the respective batch inlet of the container to increase the filling speed of the container.
Please refer to fig. 3, which shows a block diagram of a scheduling apparatus according to an embodiment of the present application. The system comprises: an acquisition unit 301 and a control unit 302.
The acquiring unit 301 is configured to acquire a full-bin rate of each container in the same lane;
the control unit 302 is configured to control the filling speed of each container in the same lane based on the full-bin rate of each container in the same lane such that each container in the same lane is filled sequentially in chronological order, the time interval between the filling moments of two containers adjacent at the filling moments in the same lane being related to the duration of one container change operation.
In some embodiments, two containers in the same lane that are adjacent at the time of filling are two containers in the same lane that are adjacent in position.
In some embodiments, for two adjacent lanes, the time interval between the filling time of the last filled container in a first lane of the two adjacent lanes and the filling time of the oldest filled container in a second lane of the two adjacent lanes is related to the length of a container change operation.
In some embodiments, the scheduling apparatus further comprises:
a first resource allocation adjusting unit, configured to reduce, for each container in the same lane, the feeding-related resource allocated to the feeding port corresponding to the container if the container meets a preset condition, where the preset condition includes: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
In some embodiments, the first resource allocation adjustment unit is further configured to reduce the number of dosing stations associated with the corresponding dosing port of the container; and/or sending processing operation execution instructions to a feeding workstation associated with a feeding port corresponding to the container to trigger execution of processing operations, wherein the processing operations comprise: loading, at the dosing workstation, goods associated with the dosing port in a further dosing vehicle associated with a further dosing port, the goods required by the further dosing port comprising goods of the same class as the goods associated with the dosing port, and the full rate of containers corresponding to the further dosing port being less than an imminent full threshold.
In some embodiments, the scheduling apparatus further comprises:
the feeding vehicle scheduling unit is configured to determine the upper limit value of the number of feeding vehicles heading to a feeding port corresponding to each container in the same roadway under the condition that the container meets a preset condition; at least one feeding vehicle which does not exceed the upper limit value of the quantity is dispatched to go to a feeding port corresponding to the container, wherein the preset conditions comprise that: the container is not full and a full-bin ratio of the container is greater than or equal to an impending full threshold.
In some embodiments, the feeding vehicle dispatching unit is further configured to: if the number of the feeding vehicles going to the feeding ports corresponding to the containers is larger than the upper limit value of the number, sending a waiting instruction to part of the feeding vehicles going to the feeding ports corresponding to the containers, so that the part of the feeding vehicles going to the feeding ports corresponding to the containers responds to the waiting instruction and runs to a preset waiting area for waiting; and/or if the number of the feeding vehicles currently going to the feeding port corresponding to the container is smaller than the upper limit value of the number, limiting the number of the newly distributed feeding vehicles going to the feeding port corresponding to the container, so that the total number of the feeding vehicles going to the feeding port corresponding to the container does not exceed the upper limit value of the number.
In some embodiments, the preset conditions further include: in a preset period of time after the container is full, container replacement cannot be performed for the container.
In some embodiments, the scheduling apparatus further comprises:
the full-box-rate size relation adjusting unit is configured to adjust the filling speed of at least one container of the two containers so that the size relation between the full-box rates of the two containers conforms to a preset size relation under the condition that the size relation between the full-box rates of the two containers in the same roadway does not conform to the preset size relation.
In some embodiments, the scheduling apparatus further comprises:
a container replacement operation performer allocation unit configured to allocate a container replacement operation performer for performing a container replacement operation for each lane based on a priority of each lane, wherein the number of container replacement operation performers allocated for each lane is related to the priority of each lane.
In some embodiments, the scheduling apparatus further comprises:
a container replacement operation priority determination unit configured to determine a priority of a container replacement operation for each lane based on a priority of the each lane, wherein the priority of the each lane is related to the priority of the container replacement operation of the each lane.
In some embodiments, the scheduling apparatus further comprises:
a second resource allocation adjustment unit configured to increase the dosing-related resources allocated to the corresponding dosing port of the container, in case a request is received indicating to increase the filling speed of the container.
The embodiment of the application provides a warehousing system, includes:
a charging station for loading goods associated with a charging opening corresponding to a container on a charging vehicle associated with the charging opening;
the feeding vehicle is used for feeding goods related to the feeding port;
a feeder port for receiving goods associated with the feeder port for delivery by a feeder vehicle;
a container for holding an article;
and the server is used for executing the scheduling method in the embodiment.
In some embodiments, the warehousing system further comprises: a container replacement operation executor for performing a container replacement operation for the container when the container is full,
the container exchange operation performer includes a transfer robot for transferring a container and a robot arm for placing a container on or removing a container from the transfer robot; and/or the presence of a gas in the gas,
the container changing operator comprises a transfer robot provided with a plurality of cargo spaces, each of which can be used for storing one of the containers, and a cargo access mechanism for moving the containers onto the cargo spaces and/or removing the containers stored on the cargo spaces.
Fig. 4 is a block diagram of a server in the warehousing system provided by the present application. The server includes a processing component 422 that further includes one or more processors, and memory resources, represented by memory 432, for storing instructions, such as applications, that are executable by the processing component 422. The application programs stored in memory 432 may include one or more modules that each correspond to a set of instructions. Further, the processing component 422 is configured to execute instructions to perform the above-described methods.
The server may also include a power component 426 configured to perform power management of the server, a wired or wireless network interface 450 configured to connect the server to a network, and an input output (I/O) interface 458. The server may operate based on an operating system stored in memory 432, such as Windows Server, MacOS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.
In an exemplary embodiment, there is also provided a storage medium comprising instructions, such as a memory comprising instructions, executable by a server to perform the scheduling method described above. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (16)
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