CN115140481A

CN115140481A - Dynamic avoidance method and device for four-way shuttle

Info

Publication number: CN115140481A
Application number: CN202211063840.3A
Authority: CN
Inventors: 陈小二; 王营; 马海龙; 古维正; 高君凯; 杨峰; 盛杨; 段志超; 宋宁宁; 宫佳俊; 杨晓菡
Original assignee: Qingdao Yingzhi Technology Co ltd
Current assignee: Qingdao Yingzhi Technology Co ltd
Priority date: 2022-09-01
Filing date: 2022-09-01
Publication date: 2022-10-04
Anticipated expiration: 2042-09-01
Also published as: CN115140481B

Abstract

The application discloses a dynamic avoidance method and device for a four-way shuttle vehicle, and relates to the field of shuttle vehicle scheduling. The method comprises the following steps: setting a BLOCK mechanism to be followed by the shuttle according to the warehouse characteristics in advance; starting a system, loading a warehouse BLOCK mechanism, and starting a deadlock monitoring main process; receiving an out-of-warehouse task, acquiring a shuttle vehicle which currently meets a scheduling condition, calculating a driving route with the minimum path cost from a starting point to a target point of the schedulable shuttle vehicle, creating a service processing thread, and issuing the driving route to the shuttle vehicle; and the deadlock monitoring main process checks whether the schedulable shuttle vehicle and other shuttle vehicles have deadlock in the running process in real time, and if yes, replans the running route for the schedulable shuttle vehicle and sends the replanned running route to the shuttle vehicle. By adopting the technical scheme, the deadlock situation caused by the fact that the shuttle car occupies the resources in the reservoir area can be avoided, and the in-and-out property of the shuttle car is improved.

Description

Dynamic avoidance method and device for four-way shuttle

Technical Field

The application relates to the field of shuttle vehicle scheduling, in particular to a four-way shuttle vehicle dynamic avoiding method and device.

Background

Logistics management has been moving towards automation, high efficiency and low cost. In order to save storage space, many logistics enterprises mostly adopt stereoscopic warehouses to store goods. The stereoscopic warehouse is an important logistics node in a modern logistics system, and is more and more commonly applied in a logistics center. The high-rise goods shelf is used for storing goods, so that the warehouse space can be fully utilized, and the space utilization rate is improved. In application nos. 202010656488.9 and 202010656053.4, an intelligent stereoscopic warehouse is proposed in which goods are transported by shuttle cars.

However, the shuttle vehicles in the warehouse need to transport goods on multiple floors, the warehouse entry and exit amount is very large, the efficiency requirement is very high, and the situation that two shuttle vehicles run oppositely and mutually occupy resources is easily caused in the warehouse area, so that resource deadlock is caused, and the dispatching of the shuttle vehicles is seriously influenced. In order to solve the problem, the application provides a four-way shuttle vehicle dynamic avoidance method and device.

Disclosure of Invention

The application provides a dynamic avoidance method for a four-way shuttle, which comprises the following steps:

s1, setting a BLOCK mechanism to be followed by the shuttle according to the characteristics of a warehouse in advance;

s2, starting a system, loading a warehouse BLOCK mechanism, and starting a deadlock monitoring main process;

s3, receiving the warehouse entry and exit task, acquiring the shuttle vehicles meeting the scheduling conditions at present, calculating a driving route with the minimum path cost from a starting point to a target point of the schedulable shuttle vehicles, creating a service processing thread, and issuing the driving route to the shuttle vehicles;

s4, the deadlock monitoring main process checks whether the schedulable shuttle vehicle and other shuttle vehicles have deadlock in the running process in real time, if yes, the step S5 is executed, and if not, the step S4 is continuously executed;

and S5, replanning the running route for the dispatchable shuttle, issuing the replanned running route to the shuttle, and continuously executing the step S4.

The method for dynamically avoiding the four-way shuttle car comprises the steps of dividing a certain area of the shuttle car which can be in a continuous form into a whole, adding a common BLOCK attribute to the whole, and allowing only one car form or a plurality of cars to be in the same direction in the certain area so as to avoid deadlock caused by fighting form resources of a plurality of shuttle cars.

The dynamic avoidance method for the four-way shuttle VEHICLE is characterized in that the block attribute comprises a SINGLE VEHICLE block attribute SINGLE _ VEHICLE _ ONLY flag and a SAME-DIRECTION multi-VEHICLE block attribute SAME _ DIRECTION _ ONLY flag; the block attribute of the single vehicle is that only one vehicle can be in the area at the same time, other vehicles can not enter the area, and the block attribute is suitable for special areas such as single-opening roads, T-junctions near junction ports and the like; the equidirectional multi-vehicle block attribute means that multiple vehicles can appear in the area at the same time, but the driving directions of all the vehicles are ensured to be consistent, so that the method is suitable for double-opening roads.

The dynamic avoidance method for the four-way shuttle vehicle comprises the steps that a corresponding BLOCK mechanism is loaded on each BLOCK in a warehouse map arranged in the system, and different BLOCK attributes identify driving principles required to be followed by corresponding areas.

The method for dynamically avoiding the four-way shuttle vehicle comprises the steps of calculating the dimensionality according to the current electric quantity, the running distance for completing the task and the reversing node of the shuttle vehicle after receiving the warehousing and ex-warehousing task, and selecting the optimal shuttle vehicle.

The dynamic avoidance method of the four-way shuttle vehicle comprises the steps of setting the current electric quantity as CE, the current electric quantity weight ratio as Ei, the driving distance of the shuttle vehicle reaching a target point as RD, the weight ratio Ri of the driving distance, the number of reversing nodes of the shuttle vehicle as N and the weight ratio of the reversing nodes of the shuttle vehicle as TM, wherein each weight ratio has no fixed value and can be adjusted as required;

then the current electric quantity weight score Ei CE = ES;

arrival target point weight score Rj × RD = RS;

a shuttle reversing weight score Tm N = NS;

the weights are collected to obtain the minimum shuttle MIN (score) = (1/ES) + RS + NS.

The method for dynamically avoiding the four-way shuttle vehicle, wherein the step of calculating the driving route with the minimum route cost from the starting point to the target point of the dispatchable shuttle vehicle, comprises the following substeps:

starting from the node A, storing the node A as a point to be processed into an 'open list';

searching all reachable or passable grids around the starting point, skipping other elevator point location grids and column point location grids which cannot pass through, and saving points A in all the grids as 'father grids';

point a is removed from the open list, added to a "closed list", and the adjacent pane in the open list is selected to replace the current "parent pane";

and repeating the steps, and finally storing all the squares which do not need to be checked again in the 'opening list' to form an optimal point location list of all the points which must be passed by when reaching the end point.

In the four-way shuttle vehicle dynamic avoidance method, G = the moving cost of moving from the starting point a to the designated grid on the grid along the generated path; h = estimated movement cost of moving from that cell on the grid to the end point B, the adjacent cell selected is the one for which F = G + H is the smallest, i.e. the route of travel of the shuttle is generated by repeatedly traversing the open list and selecting the cell with the lowest F value.

The invention also provides a dynamic avoidance device of the four-way shuttle, which is characterized by comprising the following components: the device executes any one of the four-way shuttle vehicle dynamic avoidance methods.

The beneficial effect that this application realized is as follows: by adopting the technical scheme, the deadlock situation caused by the fact that the shuttle car occupies the resources in the reservoir area can be avoided, and the in-and-out property of the shuttle car is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a flowchart of a four-way shuttle vehicle dynamic avoidance method according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

As shown in fig. 1, a first embodiment of the present application provides a dynamic avoidance method for a four-way shuttle vehicle, which is applied to a dynamic avoidance device for a four-way shuttle vehicle, and the method includes:

step 110, setting a BLOCK mechanism to be followed by the shuttle according to the warehouse characteristics in advance;

the preset BLOCK mechanism to be followed by the shuttle car is specifically a warehouse BLOCK principle, namely, a certain area of the shuttle car which can be in a continuous form is divided into a whole, and a common BLOCK attribute is added to the whole, for example, only one car is allowed in a certain area or multiple cars are allowed to be in the same direction, so that deadlock caused by contention of resources in the form of multiple shuttle cars is avoided.

The block attribute comprises a SINGLE car block attribute (SINGLE _ VEHICLE _ ONLY flag) and a SAME-DIRECTION multiple car block attribute (SAME _ DIRECTION _ ONLY); the block attribute of the single vehicle is that only one vehicle can be in the area at the same time, other vehicles can not enter the area, and the block attribute is suitable for special areas such as single-opening roads, T-junctions near junction ports and the like; the equidirectional multi-vehicle block attribute means that multiple vehicles can appear in the area at the same time, but the driving directions of all the vehicles are ensured to be consistent, so that the method is suitable for double-opening roads.

Specifically, the bicycle block attribute comprises a simple structure bicycle block and a complex structure bicycle block:

the simple-structure single car block is specifically arranged in a single-opening roadway, for example, a No. 1 shuttle car works in the single-opening roadway, at this time, if a passing No. 2 car happens to be on a ramp, the running path of the No. 1 car can be influenced by the No. 2 car under the condition of no block mechanism, and the No. 1 car can be blocked under the single-opening path under severe conditions, so that the single car block attribute is added to the single-opening roadway, other vehicles cannot enter the single-opening roadway, and when the cars working in the area execute tasks, the cars can enter or directly re-plan the path to bypass the working area of the No. 1 car after leaving;

the bicycle block with the complex structure comprises an entrance and an exit arranged at the warehouse area and is arranged on a communication path of the left and right warehouse areas; for example, the driving conditions of vehicles related to the warehouse entrance and exit are complex, deadlock caused by the fact that the vehicles compete for path resources easily occurs, after a single vehicle BLOCK mechanism is added to the warehouse entrance and exit, the vehicles driving in the area can be controlled, only one vehicle is guaranteed to work in the area at the same time, other vehicles can enter the area only after waiting for the vehicles in the area to leave, and the situation that a plurality of vehicles are blocked at one intersection to cause deadlock is avoided; the left and right garage areas have communication paths, the communication paths can cause that the vehicles in the right area want to go to the left area, the vehicles in the left area want to go to the right area, if the communication paths are not limited, two vehicles can be easily deadlocked in the communication areas, therefore, a single-vehicle BLOCK mechanism is added to the communication areas, only one vehicle is allowed to pass through at the same time, and the opposite vehicle waits outwards or the path can be planned again to go from the other direction;

in addition, for the case that two blocks have an intersection, it is also necessary to set that if a vehicle exists in block one, block one does not affect block 2 to reject other vehicles to enter because of the existence of the intersection, and the vehicle can still enter block 2.

The method comprises the following steps that a single car BLOCK with a complex structure is specifically arranged in a double-opening roadway of a reservoir area, if the condition that two cars oppositely travel in the same roadway occurs in the double-opening roadway of the reservoir area during operation time, the head-to-head meeting of the cars applies for resource paths occupied by the other cars in the roadway respectively without adding a BLOCK mechanism, and a deadlock situation is caused, so that after the BLOCK mechanism of the same-direction multiple cars is added, the two cars need to enter the same double-opening roadway in the same direction, otherwise, the cars wait outside the BLOCK, and can enter operation after leaving the cars in the BLOCK; if an unskilled vehicle stays in the double-opening block area, another vehicle which wants to enter the area must enter in the direction that the previous unskilled vehicle enters the block (provided that the route of the unskilled vehicle does not block the route of the mission vehicle), otherwise the vehicle cannot enter; if two non-task cars are in the same-direction multi-car block at the same time, any car is on a task, and the block can be opened through the opening.

Step 120, starting the system, loading a warehouse BLOCK mechanism, and starting a deadlock monitoring main process;

specifically, each BLOCK in a warehouse map set in the system loads a corresponding BLOCK mechanism, and different BLOCK attributes identify driving principles to be followed by corresponding areas.

Step 130, receiving the warehouse entry and exit task, acquiring the shuttle vehicles meeting the scheduling conditions at present, calculating a driving route with the minimum path cost from the starting point to the target point of the schedulable shuttle vehicles, creating a service processing thread, and issuing the driving route to the shuttle vehicles;

in the embodiment of the application, after the warehousing and ex-warehousing task is received, preferably, dimension calculation is carried out according to the current electric quantity, the running distance for completing the task and a shuttle vehicle reversing node, and an optimal shuttle vehicle is selected;

specifically, the current electric quantity is set as CE, the current electric quantity weight ratio is set as Ei, the running distance of the shuttle car reaching a target point is set as RD, the weight ratio Ri of the running distance, the number of shuttle car reversing nodes is set as N, and the weight ratio of the shuttle car reversing nodes is set as TM, wherein each weight ratio has no fixed numerical value and can be adjusted as required;

then the current electric quantity weight score Ei is CE = ES;

arrival target point weight score Rj × RD = RS;

a shuttle reversing weight score Tm N = NS;

summarizing the weight numbers, and obtaining a shuttle car MIN (score) = (1/ES) + RS + NS with the minimum value;

for example, an outbound job is issued in the current area, requiring a shuttle car to execute.

The number of nodes 10 required to run by the #1 shuttle vehicle when the current electric quantity 80 completes the task is reverse 5;

the number of the nodes 19 required to run when the current electric quantity 56 of the #2 shuttle vehicle completes the task is 3;

# weight configuration Ei =0.3; rj =0.4; TM =0.3;

shuttle No. 1 score: (1/24) +4+1.5=5.541667;

shuttle No. 2 score: (1/16.8) +7.6+0.9=8.559523;

MIN(score)=5.541667；

so the #1 vehicle executes the task.

After the optimal shuttle vehicle is determined, calculating a driving route with the minimum path cost between the starting point and the target point of the dispatchable shuttle vehicle, and specifically comprising the following substeps:

step1, starting from a node A, storing the node A as a point to be processed into an 'open list';

the 'open list' is similar to a shopping list, only one element is in the list in an initial state, the number of elements in the node is increased along with the increase of path nodes, but paths may pass through squares contained in the list, and may not pass through the squares but are basically a list of squares to be checked;

step2, searching all reachable or passable grids around the starting point, skipping other point location grids which cannot pass through, such as a hoist point location grid and a column point location grid, and saving points A in all the grids as 'father grids';

step3, deleting the point A from the open list, adding the point A into a closed list, selecting an adjacent square in the open list, and replacing the current 'parent square';

step4, repeating the steps, and finally storing all the check-free squares in the 'opening list' to form an optimal point location list of all the points which must pass through when reaching the terminal point;

wherein, selecting adjacent squares in the opening list specifically comprises:

setting G = moving cost of moving from the starting point A to a designated square on the grid along the generated path; h = estimated movement cost of moving from the grid to the end point B, which is referred to as estimated movement cost because the path length cannot be known first because various obstacles (walls, no path points, etc.) may exist on the path;

the adjacent squares to be selected are the smallest values for calculating F = G + H, i.e. the travel route of the shuttle is generated by repeatedly traversing the open list and selecting the square with the lowest F value; g represents the cost of moving along the path from the starting point to the current point, making the cost of horizontal or vertical movement 10 and the cost of diagonal 14, since in calculating the G value going to a cell along a particular path, the evaluation is made by taking the G value of its parent node and then adding a sum according to whether it is diagonal or orthogonal (off-diagonal) with respect to the parent node; the H value is preferably calculated by using the manhattan method to sum the number of horizontal and vertical squares between the current cell and the destination cell, ignoring the diagonal direction, and then multiplying the result by 10; writing the scores of F, G and H in each square during each step of searching, selecting the square with the lowest F value from the open list, deleting the selected square from the open list, and adding the selected square to the closed list; checking all adjacent grids, skipping those that are already in the closed list or are otherwise inaccessible (wall, water, or other inaccessible terrain), adding them to the open list, and using the selected grid as the parent node of the new grid; if a certain adjacent grid is already in the open list, checking whether the value of G is lower when a new path arrives, if so, changing the father node of the adjacent grid into the currently selected grid, recalculating the values of F and G, otherwise, not processing.

Step 140, the deadlock monitoring main process checks whether the schedulable shuttle vehicle and other shuttle vehicles have deadlock in the running process in real time, if yes, step 150 is executed, otherwise, step 140 is continuously executed;

in the embodiment of the present application, checking whether a deadlock exists specifically includes:

(1) two shuttling heads meet in parallel:

if two shuttle vehicles run in the same area at the same time, the shuttle vehicle A meets the shuttle vehicle B at a certain moment, wherein the shuttle vehicle A applies for the point location resource of the shuttle vehicle B, and the point location resource of the shuttle vehicle B is occupied by the shuttle vehicle B and is not released; on the contrary, the vehicle B is applying for the point location resource where the vehicle A is located, and the point location resource where the vehicle A is located is already occupied by the vehicle A at the moment and is in an unreleased state, which is the situation that the heads and heads of the two shuttle vehicles are deadlocked. And then the deadlock detection thread reports the numbers of the shuttles with the deadlock to the system, and the system plans the path for the vehicles again.

(2) Waiting for the resource to time out:

if the vehicle A cannot normally run on the point a due to hardware faults in the running process of a certain area, the vehicle A is manually moved to a maintenance area. At a certain moment, the vehicle B needs to pass through the point a, but the system considers that the resource at the point a is still in a state occupied by the broken vehicle, and the vehicle B cannot apply for the resource at the point a, so that the waiting resource is overtime, and deadlock is generated. And then, the deadlock detection thread reports the number of the vehicle B, and the system plans a running route for the vehicle B again.

150, replanning the running route for the schedulable shuttle, sending the replanned running route to the shuttle, and continuing to execute the step 140.

The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.

Claims

1. A four-way shuttle vehicle dynamic avoidance method is characterized by comprising the following steps:

2. The dynamic avoidance method for the four-way shuttle according to claim 1, wherein the preset BLOCK mechanism to be followed by the shuttle, specifically warehouse BLOCK principle, is to divide a certain area of the shuttle in a continuous form into a whole, and add a common BLOCK attribute to the whole, and only allow one vehicle form or allow multiple vehicles in the same direction form in a certain area, so as to avoid deadlock caused by the competition for form resources of multiple shuttles.

3. A method of dynamic avoidance for a four-way shuttle as claimed in claim 2 wherein the block attributes include a SINGLE car block attribute SINGLE _ VEHICLE _ ONLY flag and a SAME _ DIRECTION _ ONLY flag; the block attribute of the single vehicle is that only one vehicle can be in the area at the same time, other vehicles can not enter the area, and the block attribute is suitable for special areas such as single-opening roads, T-junctions near junction ports and the like; the equidirectional multi-vehicle block attribute means that multiple vehicles can appear in the area at the same time, but the driving directions of all the vehicles are required to be consistent, so that the method is suitable for double-opening roads.

4. A dynamic avoidance method for a four-way shuttle as claimed in claim 3 wherein each BLOCK in a warehouse map set up in the system is loaded with a corresponding BLOCK mechanism, different BLOCK attributes identifying the driving principles to be followed by the corresponding region.

5. The dynamic avoidance method of the four-way shuttle vehicle according to claim 1, wherein after receiving the entry and exit task, the optimal shuttle vehicle is selected by performing dimension calculation according to the current electric quantity, the travel distance for completing the task and the shuttle vehicle reversing node.

6. A four-way shuttle vehicle dynamic avoidance method according to claim 5,

setting the current electric quantity as CE, the current electric quantity weight ratio as Ei, the running distance of the shuttle car reaching a target point as RD, the weight ratio Ri of the running distance, the number of the shuttle car reversing nodes as N and the weight ratio of the shuttle car reversing nodes as TM, wherein each weight ratio has no fixed value and can be adjusted as required;

then the current electric quantity weight score Ei CE = ES;

arrival target point weight score Rj × RD = RS;

the shuttle vehicle reversing weight score Tm x N = NS;

the weights are collected, and the shuttle car MIN (score) = (1/ES) + RS + NS, which is the minimum value, is obtained.

7. The dynamic avoidance method of the four-way shuttle according to claim 5, wherein the step of calculating the driving route with the minimum path cost between the starting point and the target point of the dispatchable shuttle comprises the following sub-steps:

8. A four-way shuttle vehicle dynamic dodging method according to claim 7, wherein G = the moving cost of moving from the starting point a to the specified grid on the grid along the generated path; h = estimated movement cost of moving from that cell on the grid to the end point B, the adjacent cell selected is the one for which F = G + H is the smallest, i.e. the route of travel of the shuttle is generated by repeatedly traversing the open list and selecting the cell with the lowest F value.

9. The utility model provides a device is dodged to four-way shuttle developments which characterized in that includes: the device executes the four-way shuttle vehicle dynamic avoidance method according to any one of claims 1 to 8.