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CN113822508B - Object scheduling method, device, electronic equipment and storage medium - Google Patents

Object scheduling method, device, electronic equipment and storage medium Download PDF

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Publication number
CN113822508B
CN113822508B CN202010567752.1A CN202010567752A CN113822508B CN 113822508 B CN113822508 B CN 113822508B CN 202010567752 A CN202010567752 A CN 202010567752A CN 113822508 B CN113822508 B CN 113822508B
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combination
target
displacement
speeds
completion time
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CN113822508A (en
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李福来
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Guangdong Ruishige Technology Co ltd
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Guangdong Ruishige Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping

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Abstract

The disclosure provides an object scheduling method, an object scheduling device, electronic equipment and a storage medium, and relates to the field of logistics, wherein the method comprises the following steps: determining target displacement distances of objects to be scheduled in each carrying direction respectively; according to the combination of the target displacement distances, respectively corresponding combinations of target speeds in the conveying directions are obtained, wherein the combinations of the target speeds are associated with the combinations of the target displacement distances; and driving the object to be scheduled to displace at the corresponding target speed in each carrying direction according to the combination of the target speeds, and adjusting the combination of the target speeds based on the displacement completion time spent in each carrying direction. The method and the device can improve the adaptability of object scheduling in the logistics field.

Description

Object scheduling method, device, electronic equipment and storage medium
Technical Field
The disclosure relates to the field of logistics, in particular to an object scheduling method, an object scheduling device, electronic equipment and a storage medium.
Background
Along with the wide use of automatic vertical warehouse in logistics industry, the use requirement of stacker is obviously promoted. For users, the unit price of the stacker is high, so that the work efficiency of the stacker is high, and the acceleration and deceleration speeds and the running speeds of the stacker are high. During stacker operation, both the drive and the gearbox are operated at high load. And when the distance between the walking direction and the lifting direction is greatly different, for example: the distance in the walking direction is long and the distance in the lifting direction is short. In this case, it occurs that the destination in the lifting direction is reached in a short time and the destination in the traveling direction is reached for a long time. The stacker needs to stop running at the traveling motor and the lifting motor and then take and discharge in the next step, so that high-speed running in the lifting direction is unnecessary in this case.
Disclosure of Invention
An object of the present disclosure is to provide an object scheduling method, an object scheduling device, an electronic device, and a storage medium, which can improve adaptability of object scheduling in the field of logistics.
According to an aspect of the disclosed embodiments, an object scheduling method is disclosed, the method comprising:
Determining target displacement distances of objects to be scheduled in each carrying direction respectively;
According to the combination of the target displacement distances, respectively corresponding combinations of target speeds in the conveying directions are obtained, wherein the combinations of the target speeds are associated with the combinations of the target displacement distances;
And driving the object to be scheduled to displace at the corresponding target speed in each carrying direction according to the combination of the target speeds, and adjusting the combination of the target speeds based on the displacement completion time spent in each carrying direction.
According to an aspect of an embodiment of the present disclosure, there is disclosed an object scheduling apparatus, the apparatus including:
the determining module is configured to determine target displacement distances of the objects to be scheduled in the carrying directions respectively;
an acquisition module configured to acquire a combination of target speeds respectively corresponding in the conveying directions according to the combination of target displacement distances, wherein the combination of target speeds is associated with the combination of target displacement distances;
and the driving module is configured to drive the object to be scheduled to displace at the corresponding target speed in each carrying direction according to the combination of the target speeds, and adjust the combination of the target speeds based on the displacement completion time spent in each carrying direction.
In an exemplary embodiment of the present disclosure, the apparatus is configured to:
Determining a state of a combination of the target displacement distances;
If the combination of the target displacement distances is in an initialized state, a combination of maximum speeds corresponding to the respective conveyance directions is determined as the combination of the target speeds.
In an exemplary embodiment of the present disclosure, the apparatus is configured to:
Acquiring displacement completion time spent respectively in the conveying directions;
And adjusting a combination of the target speeds based on a relative magnitude between the displacement completion times, wherein a relative magnitude between the adjustment degrees coincides with the relative magnitude trend.
In an exemplary embodiment of the present disclosure, the apparatus is configured to: if the displacement completion time spent in the first conveyance direction is smaller than the displacement completion time spent in the second conveyance direction, at least one of lowering the target speed in the first conveyance direction and raising the target speed in the second conveyance direction is performed.
In an exemplary embodiment of the present disclosure, the apparatus is configured to: if the time difference between the displacement completion time spent in the first conveyance direction and the displacement completion time spent in the second conveyance direction is smaller than a time difference threshold, the combination of the target speeds is maintained.
In an exemplary embodiment of the present disclosure, the apparatus is configured to: and controlling the adjusted target speeds to be respectively smaller than or equal to the maximum speed in the corresponding carrying direction and larger than or equal to the preset minimum speed in the corresponding carrying direction.
In an exemplary embodiment of the present disclosure, the apparatus is configured to:
determining an adjusted number of times for a combination of the target displacement distances;
And determining the adjustment amount of the adjustment according to the adjusted times, wherein the adjustment amount is inversely related to the adjusted times.
According to an aspect of the disclosed embodiments, an object scheduling electronic device is disclosed, comprising: a memory storing computer readable instructions; a processor reads the computer readable instructions stored in the memory to perform any of the methods described above.
According to an aspect of the disclosed embodiments, a computer program medium is disclosed, on which computer readable instructions are stored which, when executed by a processor of a computer, cause the computer to perform the method of any of the above.
In the embodiment of the disclosure, the target object is driven to displace according to the combination of target speeds associated with the combination of target displacement distances, and the combination of target speeds is adjusted based on the displacement completion time after the completion of the scheduling. By means of the method, along with multiple adjustment of the combination of the target speeds, driving resources respectively distributed in each carrying direction are more and more reasonable, and adaptability of object scheduling in the logistics field is improved.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1a illustrates a block diagram of a stacker to which the object scheduling method provided in the present disclosure is applied according to an embodiment of the present disclosure.
Fig. 1b illustrates a schematic view of a ranging sensor installation applied to the stacker of fig. 1a according to one embodiment of the present disclosure.
FIG. 2 illustrates an object scheduling method flow diagram according to one embodiment of the present disclosure.
Fig. 3 shows a flow chart of stacker self-adjustment according to one embodiment of the present disclosure.
FIG. 4 illustrates an object scheduler block diagram according to one embodiment of the present disclosure.
FIG. 5 illustrates an object scheduling electronic device hardware diagram according to one embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, steps, etc. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
Fig. 1a shows a block diagram of a stacker to which the object scheduling method provided by the present disclosure according to an embodiment of the present disclosure is applied.
The stacker is mainly used for carrying cargoes in automatic vertical warehouse in the logistics field. The main structure of the stacker comprises a 1-upright post, a 2-travelling unit, a 3-electric control cabinet, a 4-lifting unit, a 5-lower cross beam, a 6-fork, a 7-cargo weight detection device and an 8-overload and rope loosening protection device which are shown in fig. 1 a. The fork can be driven to move left and right in the parallel direction of the lower cross beam through the walking unit, and can be driven to move up and down in the vertical direction through the lifting unit. The walking unit and the lifting unit can work simultaneously, so that the side band moves the fork to move left and right and simultaneously drives the fork to move up and down.
FIG. 1b illustrates a schematic view of a ranging sensor installation applied to the stacker of FIG. 1a in an embodiment of the present disclosure.
The ranging sensor mainly comprises an 11-walking ranging sensor, a 12-first reflecting plate, a 13-lifting ranging sensor and a 14-second reflecting plate shown in fig. 1 b. The distance between the left and right movement can be positioned through the walking distance measuring sensor and the first reflecting plate, and the distance between the up and down movement can be positioned through the lifting distance measuring sensor and the second reflecting plate.
It should be noted that, in addition to the stacker shown in fig. 1a, the object scheduling method provided in the present disclosure may be applied to a transport apparatus that drives objects in two or more transport directions (for example, a transport apparatus that drives objects in X-axis and simultaneously drives objects in Y-axis and Z-axis with reference to XYZ-stereoscopic space coordinate system). For the sake of brief description, the embodiment of the present disclosure mainly uses the execution body as a stacker, and the components of each conveying direction as a traveling direction and a lifting direction as examples, and describes the specific implementation procedure of the embodiment. However, the execution subject of the embodiment of the present disclosure is not represented as a stacker only, and the embodiment of the present disclosure is not represented as a case where the object is driven in the traveling direction and the lifting direction, respectively.
It should be further noted that the object in the present disclosure may be a carried cargo, or may be a device for carrying cargo (such as a fork shown in fig. 1 a). As can be appreciated, the transport apparatus can perform speed control in each direction of conveyance according to the methods provided by the present disclosure during the conveyance of cargo; the speed control in each direction of transport may also be performed according to the methods provided by the present disclosure during the picking of the transport apparatus to the target cargo space in an empty state. For the sake of brevity, the embodiments of the present disclosure mainly take the object as the goods to be handled as examples, and the specific implementation process of the embodiments will be described. But are not intended to represent the only application of the disclosed embodiments to the handling of goods.
Fig. 2 illustrates an object scheduling method according to an embodiment of the present disclosure, where the method includes:
step S210, determining target displacement distances of the target objects in the conveying directions respectively;
step S220, according to the combination of the target displacement distances, obtaining the combination of target speeds respectively corresponding to the conveying directions, wherein the combination of the target speeds is associated with the combination of the target displacement distances;
Step S230, driving the target object at the corresponding target speed in each carrying direction to displace according to the combination of the target speeds, and adjusting the combination of the target speeds based on the displacement completion time spent in each carrying direction.
In the embodiment of the disclosure, the target object is driven to displace according to the combination of target speeds associated with the combination of target displacement distances, and the combination of target speeds is adjusted based on the displacement completion time after the completion of the scheduling. By means of the method, along with multiple adjustment of the combination of the target speeds, driving resources respectively distributed in each carrying direction are more and more reasonable, and adaptability of object scheduling in the logistics field is improved.
First, a substantially complete implementation of one embodiment of the present disclosure will be described to illustrate the overall concepts of the present disclosure.
In one embodiment, the stacker requires the handling of goods from the cargo space at coordinates (10, 10) to the cargo space at coordinates (0, 4). That is, the target displacement distance of the cargo in the traveling direction is |0-10|=10m, and the target displacement distance in the lifting direction is |4-10|=6m. That is, the combination of the target displacement distances is < x=10, y=6 >.
The combination of target speeds associated with < x=10, y=6 > at this time is < V X＝2,VY =3 >.
The stacker then controls the travel motor to drive the load at a speed of 2m/s and the lift motor to drive the load at a speed of 3m/s simultaneously until the load moves to the cargo space at coordinates (0, 4). In the process, the monitoring timing of the internal timer is used for determining: the displacement completion time of the cargo in the traveling direction was 5.1s, and the displacement completion time in the lifting direction was 1.9s. The travelling motor is a motor for driving the goods to displace in the travelling direction in the stacker, and the lifting motor is a motor for driving the goods to displace in the lifting direction in the stacker.
According to 5.1 being less than 1.9, it can be seen that the travelling motor also needs to be operated for a further period of time when the lifting motor is finished working. In this case, therefore, the stacker can reduce the target speed in the lifting direction, and adjust the combination of the target speeds associated with < x=10, y=6 > to < V X＝2,VY =2 >.
When this combination of target displacement distances < x=10, y=6 > occurs next, the stacker controls the travel motor to drive the load at a speed of 2m/s and the lift motor to drive the load at a speed of 2m/s simultaneously, based on the combination of target speeds < V X＝2,VY =2 > associated with < x=10, y=6 >, until the load handling is completed. In the process, the monitoring timing of the internal timer is used for determining: the displacement completion time of the cargo in the traveling direction is 4.8s, and the displacement completion time in the lifting direction is 3.3s. According to 4.8 being smaller than 3.3, it can be seen that the travelling motor also needs to be operated for a further period of time when the lifting motor is finished working. The stacker can again reduce the target speed in the lifting direction, adjusting the combination of target speeds associated with < x=10, y=6 > to < V X＝2,VY =1.5 >.
Therefore, through continuous adjustment of the combination of the target speeds, the working time length of the walking motor and the working time length of the lifting motor are more and more similar in the process that the stacker carries goods horizontally for 10m and vertically for 6m, so that the driving resources allocated to the walking motor and the driving resources allocated to the lifting motor are more and more reasonable. Similarly, for each possible combination of target displacement distances in the warehouse, the associated combination of target speeds can be adjusted in this manner. After the stacker is self-regulated for a certain number of times, the driving resources can be reasonably distributed from any conveying starting point to any conveying end point, so that the waste of the driving resources is greatly reduced, and the adaptability to the driving resource distribution is improved.
Further, it can be seen from this embodiment that the adjustment of the combination of target speeds is based on the displacement completion time. The displacement completion time can be obtained by monitoring and timing through an internal timer. The technical scheme provided by the disclosure can be realized without adding any hardware on the original stacker, and the adaptability to the handling equipment is improved.
Still further, the adjustment of the combination of the target speeds is performed based on the displacement completion time, and even if deviation occurs in positioning due to various goods types in the warehouse, inclination of the goods shelves or the stacker positioning device, the adjustment effect is not affected, and the adaptability to the carrying environment is improved.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure. Specific implementation procedures of each step of the embodiments of the present disclosure are described in detail below.
Fig. 3 shows a flow chart of stacker self-adjustment in an embodiment of the present disclosure.
In this embodiment, the speed recorded in the traveling direction is V X, the speed in the lifting direction is V Y, the motor for driving the object to displace in the traveling direction is an X motor, the motor for driving the object to displace in the lifting direction is a Y motor, the operating time period of the X motor is T X, and the operating time period of the Y motor is T Y.
The drive in the stacker cycles through the encoder values for the storage displacement distance and associated speed. And after receiving the positioning information, calculating and storing the combination of the displacement distances. And taking out the combination of speeds corresponding to the combination of displacement distances, namely V X corresponding to the combination of displacement distances and V Y corresponding to the combination of displacement distances, and further driving an X motor to work by using the V X and driving a Y motor to work by using the V Y. After the motor is operated, T X and T Y are determined. Judging which working time is relatively smaller: if T X is smaller, then V X corresponding to the combination of displacement distances is reduced; if T Y is smaller, then V Y corresponding to the combination of displacement distances is reduced.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
In the embodiment of the disclosure, after determining the target cargo space for carrying, the stacker may determine target displacement distances of the cargo in each carrying direction according to the current cargo space; the target displacement distances of the cargoes in the respective conveying directions may also be determined according to the received conveying instructions.
In the disclosed embodiments, the combination of target displacement distances and the associated combination of target speeds may be stored in the stacker in the form of a data table or array.
In one embodiment, the method further comprises:
Determining a state of a combination of the target displacement distances;
If the combination of the target displacement distances is in an initialized state, a combination of maximum speeds corresponding to the respective conveyance directions is determined as the combination of the target speeds.
In this embodiment, the corresponding states are set for the combinations of the target displacement distances. Specifically, if the displacement corresponding to the combination of the target displacement distances is performed for the first time, the state of the combination of the target displacement distances is an initialized state. If the displacement corresponding to the combination of the target displacement distances is not performed for the first time, the state of the combination of the target displacement distances is an uninitialized state.
If the vehicle is in the initialized state, a combination of maximum speeds corresponding to the respective conveyance directions is determined as a combination of the target speeds.
For example: the maximum speed that walking motor work of stacker can reach is 2m/s, and the maximum speed that lifting motor work can reach is 3m/s. If the cargo is first transported in a combination of target displacement distances < x=10, y=6 >, the combination of target speeds associated with < x=10, y=6 > is determined as < V X＝2,VY =3 >.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
In one embodiment, if the working environment of the stacker is changed (e.g. the stacker is moved to another warehouse for working, or a shelf in the warehouse is adjusted), the state of the combination of target displacement distances stored in the stacker may be reset to the initialized state, so that the stacker is self-adjusted again for multiple times in the new working environment to adapt to the new working environment.
For example: the maximum speed that walking motor work of stacker can reach is 2m/s, and the maximum speed that lifting motor work can reach is 3m/s. After the stacker works for a period of time in the first warehouse and is subjected to self-adjustment for a certain number of times, the combination of the target speeds associated with the combination of the target displacement distances is updated to be shown in the following table 1.
TABLE 1 local content of association table after a certain number of self-adjustments in the nail warehouse
After the stacker was moved from the first warehouse to the second warehouse, the state of the combination of the target displacement distances in the table was reset, to obtain the following table 2.
TABLE 2 local content of association table after moving to the second store reset
After the second warehouse stacker carries the goods in the combination of the target displacement distances of < x=10, y=6 >, and adjusts the combination of the target speeds associated with the target displacement distances according to the displacement completion time, table 3 below is obtained.
Table 3 local content of the correlation table after combining the target displacement distances < x=10, y=6 > at the b store
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
In one embodiment, adjusting the combination of the target speeds based on the displacement completion time spent in the respective conveyance directions includes:
Acquiring displacement completion times spent in the respective conveyance directions;
the combination of the target speeds is adjusted based on the relative magnitude between the displacement completion times, wherein the relative magnitude between the adjustment levels is consistent with the relative magnitude trend.
In this embodiment, the combination of the target speeds is adjusted based on the relative magnitudes between the displacement completion times, the relative magnitudes between the adjustment degrees being consistent with the relative magnitude trend.
In one embodiment, the conveying directions include a first conveying direction and a second conveying direction. Adjusting the combination of the target speeds based on the relative magnitudes between the displacement completion times, comprising: if the displacement completion time spent in the first conveyance direction is smaller than the displacement completion time spent in the second conveyance direction, at least one of lowering the target speed in the first conveyance direction and raising the target speed in the second conveyance direction is performed.
In this embodiment, the displacement completion time in the traveling direction is recorded as T X, the displacement completion time in the lifting direction is recorded as T Y, the target speed in the traveling direction is recorded as V X, and the target speed in the lifting direction is recorded as V Y.
If T X is greater than T Y, at least one of raising V X and lowering V Y is performed.
If T X is less than T Y, at least one of decreasing V X and increasing V Y is performed.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
In an embodiment, each of the conveying directions includes a first conveying direction and a second conveying direction, and if the combination of the target displacement distances is in the initialized state, the combination of the preset reference speeds corresponding to the conveying directions is determined as the combination of the target speeds. Adjusting the combination of the target speeds based on the relative magnitudes between the displacement completion times, comprising: if the combination of the target displacement distances is in an initialized state and the displacement completion time spent in the first conveying direction is smaller than the displacement completion time spent in the second conveying direction, the target speed in the first conveying direction is reduced, and the target speed in the second conveying direction is fixed to a corresponding reference speed in the second conveying direction.
In this embodiment, the target speed in one of the conveyance directions is kept unchanged all the time during the combination of the target speeds associated with the combination of the plurality of adjustment target displacement distances.
Specifically, the target speed in the traveling direction is V X, the target speed in the lifting direction is V Y, the preset reference speed in the traveling direction is V 1, the preset reference speed in the lifting direction is V 2, the displacement completion time in the traveling direction is T X, and the displacement completion time in the lifting direction is T Y.
At the combination of speeds < V X＝V1,VY＝V2 >, driving the cargo to perform the displacement corresponding to the combination of target displacement distances in the initialized state: if T Y is smaller than T X, V Y is lowered, and V X＝V1 is kept unchanged during each subsequent adjustment of the combination of target displacement distances, and V X can be lowered from V 1 according to the actual situation (V Y＝V2 is kept unchanged if V X is lowered from V 1) until the combination of target displacement distances is reset to the initialized state. Wherein, it is preferable to set the maximum speed in the corresponding conveyance direction as the corresponding reference speed.
For example: the preset reference speed in the traveling direction is the maximum speed in the traveling direction of 2m/s, and the preset reference speed in the lifting direction is the maximum speed in the lifting direction of 3m/s.
Then for the combination of target displacement distances < x=10, y=6 > in the initialized state, the cargo is driven to displace at the combination of speeds < V X＝2,VY =3 >: t X is 5.1s, T Y is 1.9s, and T Y is less than T X.
V Y is lowered while the < x=10, y=6 > state is set to the non-initialized state. And V X =2 is maintained during each subsequent adjustment of < V X,VY > associated with < x=10, y=6 >. That is, every time the cargo is driven to perform a displacement corresponding to < x=10, y=6 >, the speed in the traveling direction is always controlled to be the corresponding maximum speed of 2m/s.
An advantage of this embodiment is that the target speed in one of the transport directions is controlled to maintain the corresponding reference speed unchanged during the adjustment of the speed combination. Since the reference speed can be set according to the work efficiency requirements of the handling equipment, the work efficiency of the handling equipment in each handling direction is controlled to be kept within a certain range by the method.
In one embodiment, the conveying directions include a first conveying direction and a second conveying direction. Adjusting the combination of the target speeds based on the relative magnitudes between the displacement completion times, comprising: if the time difference between the displacement completion time spent in the first conveyance direction and the displacement completion time spent in the second conveyance direction is smaller than a time difference threshold, the combination of the target speeds is maintained.
In this embodiment, when the time difference of the displacement completion times is smaller than the time difference threshold, the combination of the target speeds is kept unchanged.
For example: the time difference threshold was 0.3s. The stacker drives the goods to perform displacement corresponding to the combination of displacement distances of < x=10 and y=6 > at the combination of speeds of < V X＝2,VY =1.3 >. The displacement completion time of the cargo in the traveling direction was 4.9s, and the displacement completion time in the lifting direction was 4.7s. A time difference of less than 0.3s, it is considered that within an acceptable error range, the combination of speeds < V X＝2,VY = 1.3> is matched for the combination of displacement distances < X = 10, y = 6 >. Thus, keeping < V X＝2,VY =1.3 > associated with < x=10, y=6 >. When the next time the load is driven again for a displacement corresponding to the combination of displacement distances < x=10, y=6 >, the displacement is still performed at the combination of speeds < V X＝2,VY =1.3 >.
This embodiment has the advantage that in view of errors in the actual operation of the machine itself, or in view of acceptance of errors in the business requirements, the process of object scheduling can reasonably allocate drive resources within a certain error range.
In an embodiment, adjusting the combination of the target speeds based on the displacement completion time spent in the respective carrying directions further includes: and controlling the adjusted target speeds to be respectively smaller than or equal to the maximum speed in the corresponding carrying direction and larger than or equal to the preset minimum speed in the corresponding carrying direction.
In this embodiment, a maximum speed and a minimum speed are provided for each conveyance direction. The target speed is adjusted to be controlled between the maximum speed and the minimum speed. Wherein, the maximum speed is generally the speed which can be reached by the operation with the maximum power in the corresponding carrying direction; the minimum speed is typically set according to the operating efficiency requirements, for example: 1/3 of the maximum speed is determined as the minimum speed.
The method has the advantages that the minimum speed can be set according to the requirement on the working efficiency, and the object scheduling can meet the requirement on the working efficiency while the driving resource allocation is reasonable by controlling the speed after adjustment.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
In one embodiment, adjusting the combination of the target speeds based on the displacement completion time spent in the respective conveyance directions includes: the adjustment amount of each adjustment is a fixed proportion of the maximum speed in the corresponding carrying direction, and the fixed proportion is smaller than 1.
In this embodiment, each time the speed is adjusted, the amount of adjustment is a fixed ratio to the maximum speed in the conveyance direction. For example: if the fixed ratio is 1/10, when the speed in the traveling direction needs to be reduced, 1/10 of the maximum speed in the traveling direction is reduced.
Illustratively, the target speed in the travel direction is noted as V X and the target speed in the lift direction is noted as V Y. The adjustment amount of V X can be 1/10-1/5 of the maximum speed of V X; the amount of adjustment to V Y may be 1/10 to 1/5 of the maximum speed of V Y. The adjustment amount can be selected according to service requirements: the requirement on the self-adjusting precision is higher, and then an adjusting quantity with smaller adjusting degree is selected; and if the self-adjusting speed is higher, selecting an adjusting amount with a larger adjusting degree.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
In an embodiment, adjusting the combination of the target speeds based on the displacement completion time spent in the respective carrying directions further includes:
Determining an adjusted number of combinations of the target displacement distances;
and determining an adjustment amount of the adjustment according to the adjusted times, wherein the adjustment amount is inversely related to the adjusted times.
In this embodiment, the adjustment amounts of the multiple stages may be set. For the combination of the same target displacement distance, the more the number of times of adjustment is, the smaller the corresponding adjustment amount is.
For example: setting three levels of adjustment. The first gear is 1/5 of the corresponding maximum speed, the second gear is 1/7 of the corresponding maximum speed, and the third gear is 1/10 of the corresponding maximum speed. Wherein the adjusted times corresponding to the first gear is 0-2, the adjusted times corresponding to the second gear is 3-5, and the adjusted times corresponding to the third gear is 6 and above 6. The speed in the traveling direction is V X, and the speed in the lifting direction is V Y.
For a combination of target displacement distances of < x=10, y=6 >. If the first adjustment (the number of times of adjustment is 0, corresponding to the first gear) needs to be reduced by V X, 1/5 of the maximum V X is reduced on the basis of the current V X.
If the second adjustment (the number of times of adjustment is 1, corresponding to the first gear) needs to be reduced by V X, 1/5 of the maximum V X is reduced on the basis of the current V X.
If the third adjustment (number of times adjusted is 2, corresponding to first gear) requires a decrease in V Y, then 1/5 of the maximum V Y is decreased based on the current V Y.
If the fourth adjustment (3 adjusted times for second gear) requires a decrease in V Y, then 1/7 of the maximum V Y is decreased based on the current V Y.
The advantage of this embodiment is that by this method the adjustment amount is corrected according to the number of adjustments, gradually increasing the accuracy of the adjustment.
It should be noted that the embodiment is only an exemplary illustration, and should not limit the function and scope of use of the present disclosure.
Fig. 4 illustrates an object scheduling apparatus according to an embodiment of the present disclosure, the apparatus including:
a determining module 310 configured to determine target displacement distances of the objects to be scheduled in respective transport directions;
An obtaining module 320 configured to obtain a combination of target speeds respectively corresponding in the conveying directions according to the combination of target displacement distances, wherein the combination of target speeds is associated with the combination of target displacement distances;
The driving module 330 is configured to drive the object to be scheduled to displace at the corresponding target speed in each carrying direction according to the combination of the target speeds, and adjust the combination of the target speeds based on the displacement completion time spent in each carrying direction.
In an exemplary embodiment of the present disclosure, the apparatus is configured to:
Determining a state of a combination of the target displacement distances;
If the combination of the target displacement distances is in an initialized state, a combination of maximum speeds corresponding to the respective conveyance directions is determined as the combination of the target speeds.
In an exemplary embodiment of the present disclosure, the apparatus is configured to:
Acquiring displacement completion time spent respectively in the conveying directions;
And adjusting a combination of the target speeds based on a relative magnitude between the displacement completion times, wherein a relative magnitude between the adjustment degrees coincides with the relative magnitude trend.
In an exemplary embodiment of the present disclosure, the apparatus is configured to: if the displacement completion time spent in the first conveyance direction is smaller than the displacement completion time spent in the second conveyance direction, at least one of lowering the target speed in the first conveyance direction and raising the target speed in the second conveyance direction is performed.
In an exemplary embodiment of the present disclosure, the apparatus is configured to: if the time difference between the displacement completion time spent in the first conveyance direction and the displacement completion time spent in the second conveyance direction is smaller than a time difference threshold, the combination of the target speeds is maintained.
In an exemplary embodiment of the present disclosure, the apparatus is configured to: and controlling the adjusted target speeds to be respectively smaller than or equal to the maximum speed in the corresponding carrying direction and larger than or equal to the preset minimum speed in the corresponding carrying direction.
In an exemplary embodiment of the present disclosure, the apparatus is configured to:
determining an adjusted number of times for a combination of the target displacement distances;
And determining the adjustment amount of the adjustment according to the adjusted times, wherein the adjustment amount is inversely related to the adjusted times.
An object scheduling electronic device 40 according to an embodiment of the present disclosure is described below with reference to fig. 5. The object scheduling electronic device 40 shown in fig. 5 is only one example and should not impose any limitations on the functionality and scope of use of the disclosed embodiments.
As shown in fig. 5, the object scheduling electronic device 40 is in the form of a general purpose computing device. The components of the object scheduling electronic device 40 may include, but are not limited to: the at least one processing unit 410, the at least one memory unit 420, and a bus 430 connecting the various system components, including the memory unit 420 and the processing unit 410.
Wherein the storage unit stores program code that is executable by the processing unit 410 such that the processing unit 410 performs the steps according to various exemplary embodiments of the present invention described in the description of the exemplary methods described above in this specification. For example, the processing unit 410 may perform the various steps as shown in fig. 2.
The storage unit 420 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 4201 and/or cache memory 4202, and may further include Read Only Memory (ROM) 4203.
The storage unit 420 may also include a program/utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 430 may be a local bus representing one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or using any of a variety of bus architectures.
The object scheduling electronic device 40 may also communicate with one or more external devices 500 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the object scheduling electronic device 40, and/or any device (e.g., router, modem, etc.) that enables the object scheduling electronic device 40 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 450. An input/output (I/O) interface 450 is connected to the display unit 440. Also, the object scheduling electronic device 40 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, through the network adapter 460. As shown, network adapter 460 communicates with other modules of object-dispatching electronic device 40 over bus 430. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with object scheduling electronic device 40, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor of a computer, cause the computer to perform the method described in the method embodiment section above.
According to an embodiment of the present disclosure, there is also provided a program product for implementing the method in the above method embodiments, which may employ a portable compact disc read only memory (CD-ROM) and comprise program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as JAVA, C++ or the like and conventional procedural programming languages, such as the "C" language or similar programming languages, and Programmable Logic Controller (PLC) languages, such as LAD, SCL. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order, or that all illustrated steps be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (7)

1. An object scheduling method, the method comprising:
Determining target displacement distances of objects to be scheduled in each carrying direction respectively;
According to the combination of the target displacement distances, respectively corresponding combinations of target speeds in the conveying directions are obtained, wherein the combinations of the target speeds are associated with the combinations of the target displacement distances;
Driving the object to be scheduled to displace at the corresponding target speed in each carrying direction according to the combination of the target speeds, and adjusting the combination of the target speeds based on the displacement completion time spent in each carrying direction;
the adjusting the combination of the target speeds based on the displacement completion time spent in the respective conveyance directions includes: acquiring displacement completion time spent respectively in the conveying directions; adjusting a combination of the target speeds based on a relative magnitude between the displacement completion times, wherein a relative magnitude between the adjustment levels is consistent with the relative magnitude trend;
the combination of adjusting the target speed based on the relative magnitude between the displacement completion times, comprising: if the displacement completion time spent in the first conveyance direction is smaller than the displacement completion time spent in the second conveyance direction, performing at least one operation of lowering the target speed in the first conveyance direction and raising the target speed in the second conveyance direction; each carrying direction comprises a first carrying direction and a second carrying direction; if the time difference between the displacement completion time spent in the first conveyance direction and the displacement completion time spent in the second conveyance direction is smaller than a time difference threshold, the combination of the target speeds is maintained.
2. The method according to claim 1, wherein the method further comprises:
Determining a state of a combination of the target displacement distances;
If the combination of the target displacement distances is in an initialized state, a combination of maximum speeds corresponding to the respective conveyance directions is determined as the combination of the target speeds.
3. The method of claim 1, wherein the combination of target speeds is adjusted based on displacement completion times spent in the respective conveyance directions, further comprising: and controlling the adjusted target speeds to be respectively smaller than or equal to the maximum speed in the corresponding carrying direction and larger than or equal to the preset minimum speed in the corresponding carrying direction.
4. The method of claim 1, wherein the combination of target speeds is adjusted based on displacement completion times spent in the respective conveyance directions, further comprising:
determining an adjusted number of times for a combination of the target displacement distances;
And determining the adjustment amount of the adjustment according to the adjusted times, wherein the adjustment amount is inversely related to the adjusted times.
5. An object scheduling apparatus, the apparatus comprising:
the determining module is configured to determine target displacement distances of the objects to be scheduled in the carrying directions respectively;
an acquisition module configured to acquire a combination of target speeds respectively corresponding in the conveying directions according to the combination of target displacement distances, wherein the combination of target speeds is associated with the combination of target displacement distances;
the driving module is configured to drive the objects to be scheduled to displace at the corresponding target speeds in the conveying directions according to the combination of the target speeds, and adjust the combination of the target speeds based on the displacement completion time spent in the conveying directions; the adjusting the combination of the target speeds based on the displacement completion time spent in the respective conveyance directions includes: acquiring displacement completion time spent respectively in the conveying directions; adjusting a combination of the target speeds based on a relative magnitude between the displacement completion times, wherein a relative magnitude between the adjustment levels is consistent with the relative magnitude trend; the combination of adjusting the target speed based on the relative magnitude between the displacement completion times, comprising: if the displacement completion time spent in the first conveyance direction is smaller than the displacement completion time spent in the second conveyance direction, performing at least one operation of lowering the target speed in the first conveyance direction and raising the target speed in the second conveyance direction; each carrying direction comprises a first carrying direction and a second carrying direction; if the time difference between the displacement completion time spent in the first conveyance direction and the displacement completion time spent in the second conveyance direction is smaller than a time difference threshold, the combination of the target speeds is maintained.
6. An object scheduling electronic device, comprising:
A memory storing computer readable instructions;
a processor reading computer readable instructions stored in a memory to perform the method of any one of claims 1-4.
7. A computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the method of any of claims 1-4.
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