CN114590508B

CN114590508B - Stacker task scheduling method, device and system for three-dimensional library

Info

Publication number: CN114590508B
Application number: CN202210331839.8A
Authority: CN
Inventors: 林子平; 张�杰; 于兴林
Original assignee: Zhejiang Xitumeng Digital Technology Co ltd
Current assignee: Zhejiang Xitumeng Digital Technology Co ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2024-09-10
Anticipated expiration: 2042-03-30
Also published as: CN114590508A

Abstract

The invention relates to the technical field of logistics scheduling, and provides a task scheduling method, device and system for a stacker for a three-dimensional warehouse. According to the stacker scheduling method, the stacker task set is firstly obtained, the stacker running paths of all the stacker tasks in the stacker task set are sequentially determined according to the arrangement sequence of the plurality of stacker tasks in the stacker task set, one stacker task can determine a plurality of paths, and the path with the shortest required time is determined and is determined as the target path, so that the task path determined based on the method avoids frequent stacking in the tasks, and the overall efficiency is improved.

Description

Stacker task scheduling method, device and system for three-dimensional library

Technical Field

The invention relates to the technical field of logistics scheduling, in particular to a task scheduling method, device and system for a stacker for a three-dimensional warehouse.

Background

The three-dimensional warehouse can realize intelligent management of storage, management, scheduling and the like of cargoes, can improve the space utilization rate of a warehouse, can realize large-scale storage and transportation of cargoes, and greatly improves the requirements of modern industrial production and life.

Along with the expansion of the storage scale of the stereo warehouse, in order to improve the production efficiency, the research on the dispatching efficiency of the stereo warehouse is mainly performed at present. Generally, for tasks in a stereo library, most algorithms only solve the problem of single task, for example, a near-end algorithm, that is, after receiving a request for delivering a library, the system acquires partition information of the stereo library and acquires the nearest cargo space in the partition. However, as only single task optimal scheduling is considered, when a plurality of warehouse-out tasks exist, the congestion of a three-dimensional warehouse is easily caused, the scheduling efficiency is low, and only the scene of single-row shelves is generally considered, so that the method is not suitable for the multi-row shelves which are closely arranged.

Disclosure of Invention

The invention aims to solve the technical problems of single application scene and low scheduling efficiency of a scheduling algorithm in the prior art.

In order to solve the technical problems, in one aspect, the application discloses a task scheduling method for a stacker for a stereoscopic warehouse, which comprises the following steps:

Acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where goods need to be moved to a designated position;

Sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence, and obtaining a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed;

determining a target path dataset from the path dataset; the target path dataset includes a target travel path for each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task;

and executing the corresponding stacker tasks according to the arrangement sequence of each stacker task and the corresponding target running path.

Optionally, the attribute information further includes a task type; the task type includes ex-warehouse;

The cargo position comprises cargo coordinate information and attribute information; the attribute information comprises an inner shelf and an outer shelf; the outer shelf is close to the roadway;

Sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence in the plurality of stacker tasks to obtain a path data set; the path data set includes a plurality of running paths corresponding to each stacker task and time required by the stacker when each running path in the plurality of running paths is completed, and the path data set includes:

For each stacker task, if the task type of the stacker task is ex-warehouse, determining the position of the warehouse where the goods are located as the goods position;

If the goods position is located on the inner goods shelf, determining scene state information of the goods based on the goods coordinate information and the storage position state in the first preset range of the goods;

If the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a first empty bin exists on an inner shelf within a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined as the running path of the stacker task;

Acquiring the running speed of the stacker;

the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

Optionally, the attribute information further includes a single shelf; the roadway is arranged between the single-row shelf and the outer shelf;

if the cargo position is located on the inner shelf, determining scene state information of the cargo based on the cargo coordinate information and a library position state in a first preset range of the cargo, further includes:

if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a second empty bin exists on a single-row shelf within a second preset range of the shielding object; then the shielding object is moved to the second empty bin, and the path for moving the goods to the target position is determined as the running path of the stacker task;

Acquiring the running speed of the stacker;

Optionally, after determining the scene status information of the cargo based on the cargo coordinate information and the bin status within the first preset range of the cargo if the cargo position is located on the inner shelf, the method further includes:

If the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and no empty storage position exists on a single-row shelf and an outer shelf in a second preset range of the shielding object; the shielding object is moved to a target stack-reversing warehouse, and the path for moving the goods to the target position is determined as the running path of the stacker task; the target stack-reversing storage position is a storage position on a stack-reversing goods shelf close to the goods;

Acquiring the running speed of the stacker;

Optionally, the task type further includes warehousing;

For each stacker task, if the task type of the stacker task is warehouse entry and the target position is positioned on an inner side goods shelf, determining scene state information of the goods based on the goods coordinate information and a warehouse position state in a first preset range of the goods;

if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and the first empty bin exists on an inner shelf within a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined as the target running path of the stacker task;

Acquiring the running speed of the stacker;

Optionally, the acquiring a stacker task set, where the stacker task set includes attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where goods need to be moved to a specified position, and comprises:

Acquiring the priority level of each stacker task;

Sorting the plurality of stacker tasks based on the priority level of each stacker task to obtain a stacker task to-be-processed set;

Acquiring attribute information of each stacker task; the attribute information includes a cargo position and a target position; the target position is a position for moving the goods to a designated position;

And determining the stacker task set based on the arrangement sequence of a plurality of stacker tasks in the stacker task set to be processed and the attribute information of each stacker task.

In another aspect, the application also discloses a task scheduling device for a stereo library, which comprises:

the acquisition module is used for acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where goods need to be moved to a designated position;

the path determining module is used for sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task in the plurality of stacker tasks and the arrangement sequence to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed;

A target path determining module for determining a target path data set from the path data set; the target path dataset includes a target travel path for each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task;

and the execution module is used for executing the corresponding stacker tasks according to the arrangement sequence of each stacker task and the corresponding target running path.

On the other hand, the application also discloses a stereo library task scheduling system, which comprises a warehouse management system and a stereo library control system;

The warehouse management system is used for acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where goods need to be moved to a designated position; sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence, and obtaining a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed; determining a target path dataset from the path dataset; the target path dataset includes a target travel path for each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task; determining tasks to be executed according to the arrangement sequence of the tasks of each stacker and the corresponding target running path; the task to be executed is sent to a stereo library control system;

The stereo library control system is used for generating control instructions based on the task to be executed; and controlling the conveyor based on the control instruction to complete the transportation in the task to be executed.

In another aspect, the application also discloses an electronic device, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the task scheduling method of the stacker.

In another aspect, the present application also discloses a computer storage medium, where at least one instruction or at least one program is stored, where the at least one instruction or at least one program is loaded and executed by a processor to implement the above-mentioned task scheduling method for a stacker.

By adopting the technical scheme, the task scheduling method for the stacker has the following beneficial effects:

According to the stacker scheduling method, the stacker task set is firstly obtained, the stacker running paths of all the stacker tasks in the stacker task set are sequentially determined according to the arrangement sequence of the plurality of stacker tasks in the stacker task set, one stacker task can determine a plurality of paths, and the path with the shortest required time is determined and is determined as the target path, so that the task path determined based on the method avoids frequent stacking in the tasks, and the overall efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an alternative application scenario diagram of the present application;

FIG. 2 is a flow chart of an alternative stacker task scheduling method of the present application;

FIG. 3 is a top view of an alternative stereoscopic warehouse of the present application;

FIG. 4 is a top view of an alternative stereoscopic warehouse of the present application

FIG. 5 is a flow chart of an alternative stacker task scheduling method of the present application;

FIG. 6 is a schematic diagram of an alternative three-dimensional library task scheduler according to the present application.

The following supplementary explanation is given to the accompanying drawings:

10-a first processing device; 20-a second treatment device.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1, fig. 1 is an alternative application scenario diagram of the present application. The scene comprises a stereo library task scheduling system; the stereoscopic warehouse task scheduling system comprises a warehouse management system and a stereoscopic warehouse control system; the first processing device 10 of the warehouse management system is configured to obtain a stacker task set, where the stacker task set includes attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where goods need to be moved to a designated position; sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence, and obtaining a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed; determining a target path dataset from the path dataset; the target path dataset includes a target travel path for each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task; determining tasks to be executed according to the arrangement sequence of the tasks of each stacker and the corresponding target running path; and transmits the task to be executed to the second processing device 20 of the stereo library control system; the second processing device 20 is configured to generate a control instruction based on the task to be executed; and controlling the conveyor based on the control instruction to complete the transportation in the task to be executed.

Alternatively, the first processing device and the second processing device may be disposed on a server or a terminal.

Alternatively, in this embodiment, the transporter may be a stacker or other device capable of handling goods.

Optionally, the terminal may be a desktop computer, a notebook computer, a mobile phone, a tablet computer, a digital assistant, an intelligent wearable device, or other type of physical device; wherein, intelligent wearable equipment can include intelligent bracelet, intelligent wrist-watch, intelligent glasses, intelligent helmet etc..

The terminal may include a display, a memory device, and a processor coupled by a data bus. The display screen is used for virtual images of the equipment to be monitored and connection relations among all sub-equipment in the equipment to be monitored, and can be a touch screen of a mobile phone or a tablet personal computer. The storage device is used for storing program codes, data materials and the like of the shooting device, and can be a memory of a terminal, a storage device such as a smart media card (SMART MEDIA CARD), a secure digital card (secure DIGITAL CARD) and a flash memory card (FLASH CARD). The processor may be a single-core or multi-core processor.

The following is an explanation of the related nouns involved in the present application.

OPCUA (Unified Architecture ) is the next generation OPC standard to obtain real-time and historical data and time by providing a complete, secure and reliable cross-platform architecture. Techniques for interfacing with hardware devices to control and operate the devices.

RFID is an abbreviation for Radio Frequency Identification, medium name radio frequency identification, a scanning device with a built-in chip in a field scanning device.

Quartz is an open source third party timer component.

Redis is a memory database which is fast in reading and writing and safe in threads.

In the following, a specific embodiment of a method for scheduling tasks in a stacker according to the present application is described, and fig. 2 is a schematic flow chart of an alternative method for scheduling tasks in a stacker according to the present application, and the present specification provides method operation steps as an example or a flow chart, but may include more or fewer operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 2, the method may include:

S201: acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target location is a location where it is desired to move the cargo to a designated location.

In one possible embodiment, step S201 may be specifically expressed as: the priority level of each stacker task is obtained, the plurality of stacker tasks are ordered based on the priority level of each stacker task to obtain a stacker task to-be-processed set, the attribute information of each stacker task is obtained, the attribute information comprises a goods position and a target position, the target position is a position for moving goods to a designated position, and the stacker task set is determined based on the arrangement sequence of the plurality of stacker tasks in the stacker task to-be-processed set and the attribute information of each stacker task. The task set is formed by selecting a certain number of tasks into the task pool, so that the method has the following effects; firstly, the urgent task can be inserted into the task pool at any time, the urgent degree is adjusted, the urgent task is guaranteed to be processed preferentially, secondly, a reasonable convergence range can be guaranteed, the number of the operation tasks in the limited task pool is calculated, and algorithm slowing caused by excessive calculation data can be avoided. And the optimal operation track is selected by calculating the operation path of the task in the whole task pool, so that the influence on the subsequent task caused by calculating only one let task is avoided. That is, the optimal input-output path of batch tasks can be calculated controllably and efficiently, and the influence on efficiency caused by slow calculation speed of an algorithm due to too many tasks is avoided.

The task arrangement sequence in the task pool can set the task sequence of the tasks according to the actual condition of the site, particularly the emergency tasks, so that the real-time task scheduling is truly realized, and the problem that the emergency tasks cannot be timely executed and can only be executed according to the well-regulated task sequence, so that the emergency tasks cannot be delivered out of the warehouse is avoided.

In this embodiment, the attribute information further includes task types, including three types, i.e., ex-warehouse, in-warehouse, and in-warehouse.

The delivery refers to the process of transferring goods in the stereoscopic warehouse to a delivery port.

The warehousing refers to the acquisition of a warehouse entry port/a warehouse exit port into a three-dimensional warehouse.

The moving of the warehouse refers to transferring goods in the stereo warehouse.

The meaning of the cargo location and the target location is also different based on different task types.

For a stacker task with a task type of delivery, the cargo position includes cargo coordinate information and attribute information, the attribute information includes an inner shelf and an outer shelf, the outer shelf is close to a roadway, fig. 3 can be referred to, and fig. 3 is a top view of an alternative three-dimensional warehouse according to the present application.

In this embodiment, the inner shelves may also be referred to as an inner row and the outer shelves may also be referred to as an outer row. The cargo coordinate information may be three-dimensional coordinate data, such as xyz coordinate data; or may be row, column, layer data, based on which a particular bin may be located, e.g., 001-001 representing the first row, first column, first layer. Referring to fig. 4, fig. 4 is a top view of an alternative stereoscopic warehouse of the present application. The bin bits 2-1-10 represent the layer 10 of row 2, column 1.

Alternatively, the attribute information may be determined based on the cargo coordinate information and the position of each row.

For a stacker task with a task type of warehouse entry, the goods position is the position coordinate of the goods at the warehouse entry port. The target position includes target bin coordinate information, which may be three-dimensional coordinate data of the above example, and attribute information including an inner row and an outer row.

For a stacker task with a task type of moving warehouse, the goods position comprises the goods coordinate information and the attribute information, and the target position comprises the target warehouse position coordinate information and the attribute information.

It should be noted that if the stacker needs to remove the goods in the inner row of storage locations, the outer row of storage locations must be passed first, and if the location is limited, there may be only one row of shelves, that is, a single row of shelves, see fig. 4.

When goods of a certain stacker task need to be discharged from the inner row, and the goods are arranged at the outer row of the storage positions, the stacker is required to transfer the goods to other storage positions, namely, the stacking is realized.

When goods of a certain stacker task need to be rewound in an inner discharging warehouse, the calculated first target warehouse position is an outer discharging warehouse position which is exactly the outer discharging warehouse position of the goods to be discharged of the subsequent task, and therefore the goods discharged of the subsequent task also need to be rewound again, and secondary shielding can be formed. If there is such a secondary occlusion, the path may need to be re-planned.

S202: sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence, and obtaining a path data set; the path data set includes a plurality of travel paths corresponding to each of the stacker tasks and a time required for the stacker to complete each of the plurality of travel paths.

The current main stream algorithm only solves the problem of single task, secondary shielding caused by the influence of the algorithm on the subsequent warehouse-in and warehouse-out task is not considered, the algorithm is fixed, the configuration cannot be flexibly carried out, the comprehensive condition of multiple rows or single-row shelves is not adapted, the influence of the machine transportation time and the carried goods on the optimal road strength is not considered, the warehouse-back condition after the warehouse-out of the pallet carrying the goods is not considered, and the like.

The application can be based on the multi-task integral consideration in the task set, so that the optimal path can be determined, and the condition that the tray returns to the warehouse after being delivered out of the warehouse can be considered.

When calculating the running path of the stacker task, besides the task type, the structure of the three-dimensional warehouse needs to be considered, namely the structure shown in fig. 3 or the structure shown in fig. 4, or the three-dimensional warehouse is provided with a stacking goods shelf, and goods cannot be stored in the warehouse position of the goods shelf for temporary stacking and transferring, so that the situation that no empty warehouse is available in a roadway and stacking cannot be completed is avoided.

Embodiments of the above stereoscopic library scenario and task types will be respectively described below.

In a possible embodiment, referring to fig. 5, fig. 5 is a schematic flow chart of another alternative task scheduling method for a stacker according to the present application. Step S202 may be specifically described as:

s2021: and for each stacker task, if the task type of the stacker task is ex-warehouse, determining the position of the warehouse where the goods are located as the goods position.

In this embodiment, the cargo space position may be the three-dimensional data, and referring to fig. 4, the storage locations 2-1-10 are cargo positions to be delivered.

It should be noted that, the white bank bit in fig. 4 is a free bank bit, and the gray bank bit is an occupied bank bit.

S2022: if the cargo position is located on the inner side shelf, determining scene state information of the cargo based on the cargo coordinate information and a storage position state in a first preset range of the cargo.

That is, when the goods are located in the inner row, it is required to determine whether the corresponding outer row is occupied, and if so, and if a shielding object exists, the goods must be removed for stacking, and then an optimal stacking position of the shielding goods needs to be determined.

Alternatively, the storage location determined in the first preset range may be a storage location including an inner row, an outer row, and a single row nearest to the storage location of the cargo.

In this embodiment, the status of the library bits includes whether the library bits are occupied or not occupied; the scene state information of the goods at least comprises the following three conditions: firstly, a shielding object exists on an outer side shelf corresponding to goods, and a first empty bin exists on an inner side shelf within a second preset range of the shielding object; secondly, a shielding object exists on an outer side shelf corresponding to the goods, a first empty bin is not exist on an inner side shelf within a second preset range of the shielding object, and a third empty bin is exist on the outer side shelf; third, no shielding object exists on the outer shelf corresponding to the goods.

In the third case, the shielding object can be directly moved out without stacking, and the first and second cases must be stacked, wherein the second case can directly move the shielding object to the third storage position, the first case needs to move the goods to the first storage position, and of course, if the storage position of the outer storage rack corresponding to the first storage position is occupied, the outer goods corresponding to the first storage position needs to be moved to the corresponding storage position first, and the process of determining that the shielding object is moved to the corresponding stacking storage position (the first empty storage position) can be repeated.

It should be noted that, in practice, the present application considers the path condition of the next task of the current task, if the current task is the second condition, but the outer bin of the goods to be delivered of the subsequent task is the third bin, the secondary shielding of the subsequent task will be caused, and the optimal path of the current task needs to be planned again, so that the time required for completing the task in the task set is avoided to be longer.

The first case will be mainly described below.

For example, referring to FIG. 4, assuming that the warehouse to be discharged is 2-1-10, the warehouse 2-1-9 is empty, and the single-row shelves are full, the rest warehouse is shown in FIG. 4, since the outer warehouse 2-2-10 corresponding to warehouse 2-1-10 is occupied, i.e. there is a shelter, the goods to be removed from warehouse 2-1-10 must be emptied, it can be seen that the adjacent optimal emptying warehouse of warehouse 2-2-10 includes 2-1-9,2-2-9,2-1-11,2-2-11,2-3-10, since 2-2-9,2-1-11,2-2-11,2-3-10 are all occupied, then 2-1-9 is the optimal warehouse, however, since the outer warehouse 2-2-9 corresponding to warehouse 2-1-9 is occupied, at this time, the goods of warehouse 2-2-9 must be emptied first, based on the above principle that the adjacent optimal emptying warehouse 2-9 can be emptied, i.e. 2-9 is empty, and 2-9 is emptied based on the fact that the adjacent warehouse 2-2-9 is empty, i.e. 2-9 is empty, and 2-1-9 is the optimal warehouse is occupied, and then moving 2-2-10 cargoes to the first empty warehouse location, so that 2-1-10 cargoes can be moved to the target location.

The determination rule of the optimal stack-reversing position provided by the application is that a single row is more than an inner row and more than an outer row, because the single row of the position has only one row of shelves, and the outer row of the position has two shelves, secondary shielding can exist in the follow-up process, and if the conditions of the inner row and the outer row exist at the same time, the inner row is selected preferentially, so that the condition that the outer row has cargoes and the inner row has no cargoes is avoided, and the space is wasted.

Optionally, the algorithm for determining the single row > inner row > outer row may be defined by adding a weight, that is, when calculating the optimal path, the calculated value is added with the weight, for example, the single row 0, the inner row 1, the outer row 2, and the optimal value is further taken, so that whether the target bin under the same path is according to the single row > inner row > outer row rule is ensured, and the optimal path is finally calculated.

S2023: if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a first empty bin exists on an inner shelf within a second preset range of the shielding object; and the path of moving the shielding object to the first empty bin and the goods to the target position is determined as the running path of the stacker task.

In this embodiment, since there may be multiple stack backs, the shielding object moving to the first empty bin may be on the adjacent outer bin corresponding to the cargo (see the above example), or may be on the outer bin directly corresponding to the cargo, for example, when 2-2-9 bins are unoccupied.

In another possible embodiment, step 2023 may be replaced by the following process: if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a second empty bin exists on a single-row shelf within a second preset range of the shielding object; and then the shielding object is moved to the second empty bin, and the path for moving the goods to the target position is determined as the running path of the stacker task.

For example, referring to FIG. 4,2-1-10 is the to-be-ex-warehouse position, gray is the occupied warehouse position, if 2-1-10 goods need to be ex-warehouse, 2-2-10 warehouse positions must be inverted, so the optimal inverted warehouse position of 2-2-10 is calculated to have 5 warehouse positions of 2-1-9,2-1-11,1-2-10,2-3-10,3-2-10, which are optimal solutions, but 2-2-9.2-2-11 are all available, and according to the rule of single row > inner row > outer row, the final optimal solution is 2-3-10, and all inverted warehouse positions are transferred to 2-3-10 and then ex-warehouse.

S2024: the operating speed of the stacker is obtained.

Optionally, due to different stereo warehouse equipment and different sites in the market, the running speed and the goods picking time are different, the time spent by each task in warehouse-out can be accurately calculated by designing the two parameters, and the path can be recalculated according to the optimal time once the secondary shielding condition of the subsequent task occurs by comparing with the subsequent task.

In this embodiment, the operation speed of the stacker may include a unstacking speed and a moving speed. The time required for the corresponding path may then be determined based on the determined number of destacks and path length.

S2025: the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

The above is mainly to the explanation of the situation that the three-dimensional warehouse is fig. 3 and fig. 4, in order to improve the application flexibility of the task scheduling method of the stacker of the present application, the situation that the first preset range of the goods to be delivered needs to be set too wide, or the first preset range cannot find the goods capable of being stacked, but cannot take out the inner-row goods in time is avoided, and the three-dimensional warehouse is further provided with a stack-reversing goods shelf. In another possible embodiment, the step S2023 may be replaced by:

If the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and no empty storage position exists on a single-row shelf and an outer shelf in a second preset range of the shielding object; the shielding object is moved to a target stack-reversing warehouse, and the path for moving the goods to the target position is determined as the running path of the stacker task; and the target unstacking storage position is a storage position on an unstacking goods shelf close to the goods.

It should be noted that, based on the position of the stack-reversing storage position, the stack-reversing storage position may also be included in the arrangement priority of the stack-reversing storage position, that is, the arrangement rule may be that a single row > inner row > outer row > stack-reversing storage position.

By designing the shelves in the three-dimensional warehouse into the forms of inner row, outer row and single row, the shielding and optimal path calculation can be flexibly and rapidly identified, and the stack-reversing warehouse position is established, so that the situation that no empty warehouse is available in a roadway and stack reversing cannot be completed is avoided.

The above is an explanation of the case where the task type is out of the warehouse, and the task type will be described below as in-warehouse.

In one possible embodiment, step S202 may be specifically expressed as: for each stacker task, if the task type of the stacker task is warehouse entry and the target position is located on an inner side shelf, determining scene state information of the goods based on the goods coordinate information and a storage position state in a first preset range of the goods, and if the scene state information is that a shielding object exists on an outer side shelf corresponding to the goods and the first empty storage position exists on the inner side shelf in a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined as the target running path of the stacker task; acquiring the running speed of the stacker; the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

It should be noted that, the process and principle of moving the goods to the target position of the shelf in the warehouse-in process are the same as those of the goods taken out, and the difference between the process and principle and the task of leaving the warehouse are different from the definition of the goods position and the target position, and are not described herein. In the case of the transfer, since the goods in the three-dimensional warehouse are transferred in the warehouse, the goods can be taken out and stored according to the single row > inner row > outer row stacking rule.

In fact, in order to avoid the problem that when a large number of warehouse exits, the tail support is returned to the warehouse, the task is jammed, or the warehouse cannot be returned to the warehouse during machine operation, the inventory occupation is caused, the follow-up warehouse exit is affected, and the state information of the stacker needs to be determined. When a plurality of stackers are used for parallel operation, the state of each stacker needs to be acquired in real time, namely whether the stackers are occupied or not, so that efficient and orderly operation of tasks is ensured.

S203: determining a target path dataset from the path dataset; the target path dataset includes a target travel path for each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task.

Optionally, a segmented multiple concurrent timing mechanism can be introduced, firstly tasks can be disassembled at fixed time, one is disassembled through a task lock, the task to be executed is always guaranteed to be the highest in priority, secondly, the disassembled operation instructions are executed sequentially at fixed time, because three situations can exist after the task is disassembled, 1, one task of a stack-reversing instruction is not needed to be directly discharged, 2, the task of the stack-reversing instruction is involved, 3, the stack-reversing position is a temporary library position, and the tasks after the stack-reversing instruction are added. The method can be executed in sequence, and a Redis distributed caching mechanism is used, so that the machine can be guaranteed to resume execution of the job instruction after the machine is started, and high availability of programs and algorithms is guaranteed.

In an alternative embodiment, step S203 may be to calculate all the achievable target paths of each stacker task, arrange and combine the target paths corresponding to all the stacker tasks, and determine the time of all the possible combinations, so as to determine the shortest path after the combination as the following target path.

By setting the moving speed and the stacking time of the stacker, when the optimal path is calculated, the stacking of the subsequent tasks is possibly caused by secondary shielding of the subsequent tasks, and the optimal path is possibly the single task, but the overall optimal path in the task pool is not necessarily required, so that the number of target running paths which can be realized by each stacker task is reduced while the overall optimal path in the task pool can be determined, the calculated amount is reduced, and the efficiency is improved. In another alternative embodiment, step S203 may also calculate the optimal path library of the next stacker task at the same time when calculating the optimal path of the current stacker task each time, compare the current task with the subsequent task, determine whether there is secondary shielding, add the secondary shielding time if there is secondary shielding, then calculate the minimum time of each path, and take out the task path with the minimum time, which is the optimal solution of the task in the task pool. The above-mentioned modes can be sequentially adopted until the target paths of all the tasks in the task set are determined.

S204: and executing the corresponding stacker tasks according to the arrangement sequence of each stacker task and the corresponding target running path.

The following provides an embodiment of a task scheduling method for a stacker of the present application, which includes the following steps:

1) Task convergence determination: according to the capacity of the stacker, the task number is set in advance, and a timer takes a specific number of tasks as a task pool each time.

2) Timing calculation task: starting a timer, and judging whether the executed job specification exists in the Redis task lock at regular time, and starting a calculation task if the executed job specification exists in the Redis task lock.

3) Tasks are operated by priority: and reading the task with the highest priority according to the set task priority, and then calculating and analyzing the ex-warehouse path of the task.

4) Judging the shielding library position: if the target bin is not blocked (i.e. the bin of the object to be delivered is in a single row, an outer row, or an inner row but no object is in the corresponding outer row of the bin), a job instruction is directly generated, and if the target bin is blocked, the task of the task pool is continuously analyzed.

5) And calculating the optimal operation time.

And taking out the current task and the next task according to the task arrangement sequence in the task pool, determining a target stack-reversing storage position if the task needs to be reversed, comparing the target stack-reversing storage position with the target storage position of the subsequent task, and calculating whether the time for reversing the stack secondarily and the time for completing the path are needed.

Meanwhile, according to the initial set track running speed of the stacker, the running path of each bin is calculated by combining three-dimensional modeling, the route running time and the unstacking time of each target bin can be calculated, the total duration of the operation is comprehensively calculated, and the target unstacking bin with the optimal time is taken out to be the optimal solution (refer to the above example).

Meanwhile, when the target stack-reversing warehouse position is calculated, whether the target stack-reversing warehouse position is a temporary warehouse position or not needs to be judged: because the temporary transfer warehouse position is set, if the optimal target stack-reversing warehouse position is the temporary warehouse position, a warehouse-returning operation instruction needs to be added once, so that the subsequent temporary warehouse position is prevented from being occupied.

6) Generating a job instruction: a total of three job instructions may be generated depending on the circumstances: 1. a stack reversing instruction, a stack discharging instruction, a stack returning instruction and a final operation instruction are combined under different conditions.

The following provides another embodiment of the task scheduling method of the stacker of the present application, which includes the following steps:

1) Preparing a software environment: deploying the program to a server, wherein the server is a Linux server, installing a MYSQL database, installing a Redis cache database, and debugging the connection condition of equipment and the program.

2) Preparing basic data: three-dimensional coordinates of the library bits are determined according to the actual arrangement of the field library bits (see the above example), and temporary transfer library bits are configured. Setting the running speed and the stacking time of the stacker. Setting the number of tasks in the task pool and setting task priority parameters.

3) Receive warehouse management system ((Warehouse MANAGEMENT SYSTEM, WMS) task): the WMS task is received, data are stored in a task database, task priority is automatically calculated and generated according to time sequence, and the task has task state, task ID, task tray, task priority and corresponding stacker. Here data is received through the WEBAPI interface and algorithmic calculations are triggered and tasks are generated through a subscription-publishing mechanism.

4) And generating a task pool, namely starting corresponding timer threads according to different stackers to generate the task pool of the corresponding stackers. Judging the task type (ex-warehouse, warehouse-in and warehouse-out), wherein the ex-warehouse task enters a task pool, and the warehouse-in task directly enters a warehouse-in task Redis cache. The corresponding timer threads are started according to the number of the stackers through a third-party open source component Quartz open source component to concurrently process tasks, and the tasks are written into a Redis database cache.

5) Timed consumption task: and inquiring the task of the task pool through a timer, judging whether a task lock which is being executed by the task exists, and if the task lock does not exist, taking out the task with the highest task priority. And calculating an optimal ex-warehouse path, decomposing out a job instruction, writing the job instruction into a Redis task cache, and adding a task lock. Here too, tasks are processed concurrently through the Quartz timer mechanism, and task locks are established skillfully by utilizing the Redis lock mechanism.

6) Executing the job instruction at regular time: according to the execution sequence of the operation instructions: and the unstacking instruction, the ex-warehouse instruction and the return-warehouse instruction execute tasks sequentially through the OPCUA issuing equipment. The next job instruction can be triggered after each execution. And after the operation is completed, the task lock is released, and the next task is consumed.

7) Here, through subscribing OPCUA data, the operation condition of the stacker is monitored in real time

7.1, A stack reversing instruction: the delivery trays are at the inner row and the outer row, so that the delivery trays need to be transferred to other storage positions for delivering the trays inside.

And 7.2, a delivery instruction, namely, after the outer delivery position is completely inverted, delivering the delivery tray directly.

7.3: A return instruction: if the pallet in the unstacking storage position is transferred to the temporary storage position, the pallet needs to be moved into the out-of-storage position for the subsequent task to continue unstacking.

7.4: Execution of the job instruction: and (3) judging the running state of the stacker at regular time through regular scheduling, if the stacker is idle, acquiring a job instruction to be executed, and acquiring the state with the highest priority and the unexecuted state according to the sequence of the job instructions. And then, task information is issued to the stacker through the OPCUA, three-dimensional coordinates, pallet codes and the like are given to the stacker, the completion state is called back after the stacker is executed, the operation instruction is updated, and the stacker is idle. The timer continues to execute the next instruction. If the instructions are all executed, the task lock is updated, and the timer begins to consume the next ex-warehouse task.

8) Changing task priority: after the WCS receives the designation, the WMS firstly judges whether the task is not executed yet, directly changes the task priority into urgent execution, if not, the WMS directly inserts the task pool, and waits for the next cycle to execute the task preferentially.

9) Inserting emergency tasks: WMS issues a new emergency delivery task. After receiving the instruction, the warehouse control system (Warehouse Control System, WCS) directly inserts the task into the task pool, and the priority becomes urgent execution, and the degree of urgency is highest. Waiting for the next cycle to execute the task preferentially

10 Executing a warehouse-in task:

10.1, the warehouse-in RFID scans the warehouse-in tray, firstly judges whether the stacker is idle, continues to execute if idle, and waits for the next execution if busy.

And 10.2, receiving the tray number scanned by the RFID, inquiring the warehouse-in task of Redis, calculating the optimal warehouse-in path, and calculating rules according to single row > inner row > outer row. And obtaining the optimal library position. And issuing an instruction to the stacker, wherein the instruction comprises information such as a tray, a task ID, a library position and the like. And after the stacker is executed, the callback updating task is completed.

In another aspect, referring to fig. 6, fig. 6 is a schematic structural diagram of an alternative stereo library task scheduler according to the present application. The application also discloses a task scheduling device of the stereo library, which comprises:

an obtaining module 601, configured to obtain a stacker task set, where the stacker task set includes attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information includes a cargo position and a target position; the target position is a position where goods need to be moved to a designated position;

The path determining module 602 is configured to sequentially determine a plurality of running paths of the stacker corresponding to each of the plurality of stacker tasks based on the cargo position and the target position of each of the plurality of stacker tasks and the arrangement sequence, so as to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed;

A target path determining module 603, configured to determine a target path data set from the path data set; the target path dataset includes a target travel path for each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task;

And the execution module 604 is configured to execute the corresponding stacker task according to the arrangement sequence of each stacker task and the corresponding target running path.

In a possible embodiment, the attribute information further includes a task type, the task type including a job-out;

the goods position comprises goods coordinate information and attribute information, wherein the attribute information comprises an inner goods shelf and an outer goods shelf, and the outer goods shelf is close to a roadway;

The path determining module is used for determining the position of the warehouse where the goods are located as the goods position if the task type of the stacker task is ex-warehouse for each stacker task; if the goods position is located on the inner goods shelf, determining scene state information of the goods based on the goods coordinate information and the storage position state in the first preset range of the goods; if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a first empty bin exists on an inner shelf within a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined as the running path of the stacker task; acquiring the running speed of the stacker; the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

In a possible embodiment, the attribute information further includes a location on a single row of shelves; the roadway is arranged between the single-row shelf and the outer shelf; the path determining module is used for determining whether a shielding object exists on an outer shelf corresponding to the goods or not according to the scene state information, and a second empty bin exists on a single-row shelf within a second preset range of the shielding object; then the shielding object is moved to the second empty bin, and the path for moving the goods to the target position is determined as the running path of the stacker task; acquiring the running speed of the stacker; the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

In a possible embodiment, the path determining module is configured to determine that, if the scene status information indicates that a shielding object exists on an outer shelf corresponding to the cargo, no empty storage space exists on a single-row shelf and an outer-row shelf within a second preset range of the shielding object; the shielding object is moved to a target stack-reversing warehouse, and the path for moving the goods to the target position is determined as the running path of the stacker task; the target stack-reversing storage position is a storage position on a stack-reversing goods shelf close to the goods; acquiring the running speed of the stacker; the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

In a possible embodiment, the task type further includes binning;

The path determining module is used for determining scene state information of the goods based on the goods coordinate information and the stock position state in the first preset range of the goods if the task type of the stacker task is warehouse entry and the target position is positioned on the inner side goods shelf; if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and the first empty bin exists on an inner shelf within a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined as the target running path of the stacker task; acquiring the running speed of the stacker; the time required for the stacker to complete the stacker task is determined based on the operating speed of the stacker and the operating path of the stacker task.

In a possible embodiment, the acquiring module is configured to acquire a priority level of each stacker task; sorting the plurality of stacker tasks based on the priority level of each stacker task to obtain a stacker task to-be-processed set; acquiring attribute information of each stacker task; the attribute information includes a cargo position and a target position; the target position is a position for moving the goods to a designated position; and determining the stacker task set based on the arrangement sequence of a plurality of stacker tasks in the stacker task set to be processed and the attribute information of each stacker task.

The embodiment of the application also provides an electronic device, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the task scheduling method of the stacker as described above.

Embodiments of the present application also provide a computer storage medium that may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a stacker task scheduling method in a method embodiment, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded and executed by the processor to implement the stacker task scheduling method described above.

Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the application are intended to be included within the scope of the application.

Claims

1.A stacker task scheduling method for a stereoscopic warehouse, comprising:

Acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the stacker tasks; the attribute information comprises a goods position and a target position; the target position is a position where goods need to be moved to a designated position; the arrangement sequence of the plurality of stacker tasks is obtained by performing sorting operation on the plurality of stacker tasks based on the priority level of each stacker task;

Sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence in the plurality of stacker tasks to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed;

Determining a target path dataset from the path dataset; the target path data set comprises a target running path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task;

2. The stacker task scheduling method according to claim 1, wherein said attribute information further includes a task type; the task type comprises ex-warehouse;

the goods position comprises goods coordinate information and attribute information; the attribute information comprises an inner shelf and an outer shelf; the outer shelf is close to the roadway;

The goods position and the target position of each stacker task and the arrangement sequence of the stacker tasks are based on the stacker tasks, a plurality of running paths of the stackers corresponding to the stacker tasks are sequentially determined, and a path data set is obtained; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed, and the path data set comprises the following steps:

If the goods are located on the inner goods shelf, determining scene state information of the goods based on the goods coordinate information and the state of the goods in a first preset range;

If the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a first empty bin exists on an inner shelf within a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined to be the running path of the stacker task;

acquiring the running speed of the stacker;

And determining the time required by the stacker to complete the stacker task based on the running speed of the stacker and the running path of the stacker task.

3. The stacker task scheduling method of claim 2 wherein said attribute information further comprises a pallet located in a single row; the roadway is arranged between the single-row goods shelf and the outer goods shelf;

if the cargo position is located on the inner shelf, determining scene state information of the cargo based on the cargo coordinate information and a library position state in a first preset range of the cargo, and then further including:

If the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and a second empty bin exists on a single-row shelf within a second preset range of the shielding object; the shielding object is moved to the second empty bin, and the path for moving the goods to the target position is determined to be the running path of the stacker task;

acquiring the running speed of the stacker;

4. The stacker task scheduling method according to claim 3, wherein if the cargo position is located on an inner shelf, after determining the scene status information of the cargo based on the cargo coordinate information and the bin status within the first preset range of the cargo, further comprising:

If the scene state information indicates that a shielding object exists on an outer shelf corresponding to the goods, and no empty storage position exists on a single-row shelf and an outer shelf in a second preset range of the shielding object; the shielding object is moved to a target stack-reversing warehouse, and a path for moving the goods to the target position is determined to be a running path of the stacker task; the target stack-reversing storage position is a storage position on a stack-reversing goods shelf close to the goods;

acquiring the running speed of the stacker;

5. The stacker task scheduling method of claim 2 wherein said task types further comprise binning;

for each stacker task, if the task type of the stacker task is warehouse entry and the target position is located on an inner side goods shelf, determining scene state information of the goods based on the goods coordinate information and a warehouse position state in a first preset range of the goods;

if the scene state information is that a shielding object exists on an outer shelf corresponding to the goods, and the first empty bin exists on an inner shelf within a second preset range of the shielding object; the shielding object is moved to the first empty bin, and the path for moving the goods to the target position is determined to be a target running path of the stacker task;

acquiring the running speed of the stacker;

6. The method for scheduling stacker tasks according to claim 1, wherein the acquiring a stacker task set includes attribute information of a plurality of stacker tasks and an arrangement order of the plurality of stacker tasks; the attribute information comprises a goods position and a target position; the target position is a position where goods need to be moved to a designated position; the arrangement sequence of the plurality of stacker tasks is obtained by performing an ordering operation on the plurality of stacker tasks based on the priority level of each stacker task, and the arrangement sequence comprises the following steps:

Acquiring the priority level of each stacker task;

Acquiring attribute information of each stacker task; the attribute information comprises a goods position and a target position; the target position is a position for moving the goods to a designated position;

7. A stereoscopic warehouse task scheduling device, comprising:

the acquisition module is used for acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information comprises a goods position and a target position; the target position is a position where goods need to be moved to a designated position; the arrangement sequence of the plurality of stacker tasks is obtained by performing sorting operation on the plurality of stacker tasks based on the priority level of each stacker task;

The path determining module is used for sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence, and obtaining a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed;

a target path determining module, configured to determine a target path data set from the path data set; the target path data set comprises a target running path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task;

8. The stereo library task scheduling system is characterized by comprising a warehouse management system and a stereo library control system;

The warehouse management system is used for acquiring a stacker task set, wherein the stacker task set comprises attribute information of a plurality of stacker tasks and an arrangement sequence of the plurality of stacker tasks; the attribute information comprises a goods position and a target position; the target position is a position where goods need to be moved to a designated position; the arrangement sequence of the plurality of stacker tasks is obtained by performing sorting operation on the plurality of stacker tasks based on the priority level of each stacker task; sequentially determining a plurality of running paths of the corresponding stacker of each stacker task based on the goods position and the target position of each stacker task and the arrangement sequence in the plurality of stacker tasks to obtain a path data set; the path data set comprises a plurality of running paths corresponding to each stacker task and time required by the stackers when each running path in the plurality of running paths is completed; determining a target path dataset from the path dataset; the target path data set comprises a target running path of each stacker task; the time corresponding to the target paths of the plurality of stacker tasks is less than the time corresponding to the non-target paths of the plurality of stacker tasks; the time corresponding to the target paths of the plurality of stacker tasks is the sum of the time corresponding to the target running paths of each stacker task; determining tasks to be executed according to the arrangement sequence of each stacker task and the corresponding target running path; the task to be executed is sent to a stereo library control system;

The stereo library control system is used for generating control instructions based on the tasks to be executed; and controlling the conveyor based on the control instruction to finish the transportation in the task to be executed.

9. An electronic device comprising a processor and a memory having stored therein at least one instruction, at least one program, code set, or instruction set loaded and executed by the processor to implement the stacker task scheduling method of any one of claims 1-6.

10. A computer storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the stacker task scheduling method of any one of claims 1-6.