CN108734328A - Method and apparatus for dispatching automated guided vehicle in unmanned sorting system - Google Patents

Method and apparatus for dispatching automated guided vehicle in unmanned sorting system Download PDF

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CN108734328A
CN108734328A CN201710264865.2A CN201710264865A CN108734328A CN 108734328 A CN108734328 A CN 108734328A CN 201710264865 A CN201710264865 A CN 201710264865A CN 108734328 A CN108734328 A CN 108734328A
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transport
cage
vehicle
cage car
transportation
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CN108734328B (en
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芦杰
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Beijing Jingbangda Trade Co Ltd
Beijing Jingdong Qianshi Technology Co Ltd
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Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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    • G06—COMPUTING OR CALCULATING; 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
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    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
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Abstract

本申请公开了用于调度无人分拣系统中自动导引运输车的方法和装置。上述方法的一具体实施方式包括：获取各个自动导引运输车的状态信息和位置信息；获取各个格口的运输批次；根据各个格口的运输批次，确定各个笼车的运输终点位置；根据各运输终点位置和/或各个笼车的运输起始位置，确定各个笼车的运输优先级；根据各运输优先级、各自动导引运输车的状态信息和位置信息，调度各自动导引运输车运输各个笼车。该实施方式能够有效地减小各自动导引运输车在运输各个笼车的行驶距离，提高分拣效率。

The present application discloses a method and a device for dispatching automatic guided transport vehicles in an unmanned sorting system. A specific implementation of the above method includes: obtaining the state information and location information of each automatic guided transport vehicle; obtaining the transportation batch of each grid; determining the transportation terminal position of each cage car according to the transportation batch of each grid; Determine the transportation priority of each cage vehicle according to the transportation end position and/or the transportation starting position of each cage vehicle; dispatch each automatic guided vehicle according to each transportation priority, status information and position information of each automatic guided transportation vehicle The transport vehicle transports each cage car. This embodiment can effectively reduce the traveling distance of each automatic guided transport vehicle when transporting each cage car, and improve the sorting efficiency.

Description

Method and apparatus for dispatching automated guided vehicle in unmanned sorting system
Technical field
This application involves logistlcs technology fields, and in particular to packages technical field more particularly, to dispatches nobody The method and apparatus of automated guided vehicle in sorting system.
Background technology
In warehouse, after by item picking in order, each order can be packaged to packing, generate transport packet It wraps up in, each transport superscribes the ship-to that can indicate transport package.Transport be wrapped in generation after enter sorting system into Row sorting, that is, transport will be separated by being sent to the package of different destinations, and being sent to the package of same destination will transport together.
At this moment it needing to wrap up in input sorter, the package of same destination can be transported by cage vehicle to delivery railway platform, It is then charged into transport vehicle and is sent to destination.In the cage vehicle that transport is wrapped up equipped with transport, it can generally pass through AGV (Automated Guided Vehicle, automated guided vehicle) it transports.But how the AGV limited amounts in warehouse reduce AGV and are transporting Driving path when cage vehicle, the sorting efficiency for promoting unmanned warehouse sorting system are a problem to be solved.
Invention content
The purpose of the application be to propose it is a kind of for dispatch in unmanned sorting system the method for automated guided vehicle and Device, to solve the technical issues of background section above is mentioned.
In a first aspect, the embodiment of the present application provide it is a kind of for dispatching automated guided vehicle in unmanned sorting system Method, unmanned sorting system include sorter, working area and railway platform, and above-mentioned sorter includes the bin of multiple output packages, Be placed with the cage vehicle for receiving package at each bin, different bins has a different transport batches, it is each transport batch and Preset each haulage time range corresponds, and above-mentioned working area is for storing the temporary cage vehicle for filling package, above-mentioned railway platform For storing cage vehicle to be delivered, automated guided vehicle is used between above-mentioned bin, above-mentioned working area and above-mentioned railway platform Transport cage vehicle；The above method includes：Obtain the status information and location information of each automated guided vehicle；Obtain each bin Transport batch；According to the transport batch of each bin, the transportation terminal position of each cage vehicle is determined；According to each transportation terminal position It sets and/or the transport initial position of each cage vehicle, determines the transport priority of each cage vehicle；According to each transport priority, respectively The status information and location information of dynamic guide transport lorry dispatch each automated guided vehicle and transport each cage vehicle.
In some embodiments, the above-mentioned transport batch according to each bin, determines the transportation terminal position of each cage vehicle, Including：For each bin, detects and whether stored cage vehicle at the bin；There is cage vehicle in response to storage at the bin, according to this The transport batch of bin determines the transportation terminal position of the cage vehicle at the bin；In response to not storing cage vehicle at the bin, according to The transport batch of the bin determines that the transportation terminal position of at least one cage vehicle is the bin.
In some embodiments, the above-mentioned transport batch according to the bin, determines the transportation terminal of the cage vehicle at the bin Position, including：It is located within the scope of the haulage time corresponding to the transport batch of the bin in response to current time, determines the bin The corresponding railway platform in the transport destination of the cage vehicle at place and above-mentioned transport destination；Detect the current of the cage vehicle stored on above-mentioned railway platform Whether quantity is equal to the first preset value；It is equal to the first preset value in response to the current quantity for the cage vehicle stored on railway platform, determining should The transportation terminal position of cage vehicle at bin is working area.
In some embodiments, the above-mentioned transport batch according to the bin, determines the transportation terminal of the cage vehicle at the bin Position, including：It is less than the first preset value in response to the current quantity for the cage vehicle stored on railway platform, determines the cage vehicle at the bin Transportation terminal position is above-mentioned railway platform.
In some embodiments, the above-mentioned transport batch according to the bin, determines the transportation terminal of the cage vehicle at the bin Position, including：Except haulage time range of the current time corresponding to the transport batch of the bin, the bin is determined The transportation terminal position of the cage vehicle at place is working area.
In some embodiments, the above-mentioned transport batch according to the bin, determines the transportation terminal of the cage vehicle at the bin Position further includes：For each cage vehicle that transportation terminal position is working area, detect in working area with the presence or absence of at least one row The destination of cage vehicle is identical as the destination of the cage vehicle；In response to there is at least destination of a row cage vehicle and the cage in working area The destination of vehicle is identical, testing goal it is identical it is each row whether be filled with；In response to the identical at least row cage vehicle in destination Be not filled with, by the cage vehicle be stored in the cage vehicle it is same transport batch a row cage vehicle in；In response to the identical each row in destination It is all filled with, which is stored in a new row.
In some embodiments, each haulage time range includes transport initial time and transport finish time；On and The transport initial position according to each transportation terminal position and/or each cage vehicle is stated, determines the transport priority of each cage vehicle, is wrapped It includes：It determines current time and exports the duration between the transport finish time corresponding to the transport batch of the bin of the cage vehicle；It rings Preset duration should be less than in above-mentioned duration, determine that the priority that transportation terminal position is the cage vehicle of railway platform is more than transportation terminal position For the priority of the cage vehicle in working area；Determine that transportation terminal position is that the priority of the cage vehicle of the bin of current transportation batch is more than Transportation terminal position is the priority of the cage vehicle for the bin that non-present transports batch.
In some embodiments, above-mentioned according to each transportation terminal position and/or the transport initial position of each cage vehicle, it determines The transport priority of each cage vehicle, including：It is greater than or equal to preset duration in response to above-mentioned duration, determines that transport initial position is The priority of the cage vehicle of bin is more than the priority for the cage vehicle that transport initial position is working area；Determine that transportation terminal position is to work as The priority of the cage vehicle of the bin of preceding transport batch is more than the cage vehicle that transportation terminal position is the bin that non-present transports batch Priority.
In some embodiments, above-mentioned according to each transport priority, the status information of each automated guided vehicle and position Information dispatches each automated guided vehicle and transports each cage vehicle, including：Determine that the maximum of each cage vehicle concurrently transports quantity；According to The status information and location information of each automated guided vehicle, the transport initial position of each cage vehicle and transportation terminal position, each fortune Defeated priority and above-mentioned maximum concurrently transport quantity, determine that each automated guided vehicle transports each transport road needed for each cage vehicle The minimum transportation range of diameter；According to above-mentioned minimum transportation range, dispatches each automated guided vehicle and transport each cage vehicle.
In some embodiments, above-mentioned unmanned sorting system further includes sky cage vehicle storage area, above-mentioned sky cage vehicle storage area packet Include multiple row sky cage vehicle；And the maximum of above-mentioned each cage vehicle of determination concurrently transports quantity, including：It is arrived according to each automated guided vehicle The probability of each row cage vehicle in working area, to current transportation batch each bin probability, transport to non-present each bin of batch Probability, to the probability of each row cage vehicle of empty cage vehicle storage area, determine first object function；Determine above-mentioned first object function with Maximum value under at least one of lower constraints：Each idle automated guided vehicle transports most cage vehicles, each cage Vehicle distributes most automated guided vehicles, each empty cage vehicle is assigned to most one and does not store the bin of cage vehicle, Mei Gewei The bin of storage cage vehicle distributes most one empty cage vehicles, the quantity of each railway platform storage cage vehicle is less than or equal to the first preset value, The quantity of each column cage vehicle is less than or equal at the second preset value, working area and/or each bin and/or each railway platform in working area The quantity that transports and be transported into cage vehicle is equal, each cage vehicle at the bin of working area each cage vehicle and current transportation batch only The each cage vehicle transported at the bin of batch to the corresponding railway platform in transport destination of the cage vehicle, non-present, which can be transported, to be transported To the corresponding working area in transport destination of the cage vehicle；Determine that above-mentioned maximum value is that above-mentioned maximum concurrently transports quantity.
In some embodiments, above-mentioned status information and location information according to each automated guided vehicle, each cage vehicle Transport initial position and transportation terminal position, each transport priority and above-mentioned maximum concurrently transport quantity, determine and each lead automatically Draw the minimum transportation range for each transportation route that transport vehicle transports needed for each cage vehicle, including：According to each automated guided vehicle Location information, the transport initial position of each cage vehicle and transportation terminal position, determine each transportation route；According to each transportation route of execution Probability, each transportation route distance and each transportation route the corresponding weight of priority, determine the second object function；It determines Minimum value of above-mentioned second object function under at least one of following constraints：Each idle automated guided vehicle transport Most cage vehicles, each cage vehicle distribute most automated guided vehicles, each empty cage vehicle is assigned to most one and does not deposit It is small that the bin for putting cage vehicle, the bin for not storing cage vehicle each distribute most one empty cage vehicles, the quantity of each railway platform storage cage vehicle In or equal in the first preset value, working area the quantity of each column cage vehicle be less than or equal to the second preset value, working area and/or each The quantity that transports and be transported into cage vehicle at bin and/or each railway platform is equal, working area each cage vehicle and current transportation batch Bin at each cage vehicle can only transport to the corresponding railway platform in transport destination of the cage vehicle, non-present the bin for transporting batch Each cage vehicle at place, which can only be transported to the quantity of the corresponding working area in transport destination of the cage vehicle, automated guided vehicle, to be more than Or concurrently transport quantity equal to above-mentioned maximum.
In some embodiments, above-mentioned according to above-mentioned minimum transportation range, it is each to dispatch each automated guided vehicle transport Cage vehicle, including：According to the value of the corresponding each probability of above-mentioned minimum value, dispatches each automated guided vehicle and transport each cage vehicle.
Second aspect, the embodiment of the present application provide a kind of for dispatching automated guided vehicle in unmanned sorting system Device, unmanned sorting system include sorter, working area and railway platform, and above-mentioned sorter includes the bin of multiple output packages, Be placed with the cage vehicle for receiving package at each bin, different bins has a different transport batches, it is each transport batch and Preset each haulage time range corresponds, and above-mentioned working area is for storing the temporary cage vehicle for filling package, above-mentioned railway platform For storing cage vehicle to be delivered, automated guided vehicle is used between above-mentioned bin, above-mentioned working area and above-mentioned railway platform Transport cage vehicle；Above-mentioned apparatus includes：First acquisition unit, the status information for obtaining each automated guided vehicle and position Information；Second acquisition unit, the transport batch for obtaining each bin；Transportation terminal position determination unit, for according to each The transport batch of a bin determines the transportation terminal position of each cage vehicle；Priority determining unit is transported, for according to each transport Final position and/or the transport initial position of each cage vehicle, determine the transport priority of each cage vehicle；Scheduling unit is used for root According to each transport priority, the status information and location information of each automated guided vehicle, each automated guided vehicle transport is dispatched Each cage vehicle.
In some embodiments, above-mentioned transportation terminal position determination unit includes：Detection module, for for each lattice Mouthful, it detects and whether has stored cage vehicle at the bin；First determining module, for having cage vehicle in response to storage at the bin, according to The transport batch of the bin determines the transportation terminal position of the cage vehicle at the bin；Second determining module, in response to the lattice Cage vehicle is not stored at mouthful, according to the transport batch of the bin, determines that the transportation terminal position of at least one cage vehicle is the bin.
In some embodiments, above-mentioned first determining module is further used for：It is located at the bin in response to current time It transports within the scope of the haulage time corresponding to batch, determines the transport destination of the cage vehicle at the bin and above-mentioned transport destination Corresponding railway platform；Whether the current quantity for detecting the cage vehicle stored on above-mentioned railway platform is equal to the first preset value；In response on railway platform The current quantity of the cage vehicle of storage is equal to the first preset value, determines that the transportation terminal position of the cage vehicle at the bin is working area.
In some embodiments, above-mentioned first determining module is further used for：In response to working as the cage vehicle stored on railway platform Preceding quantity is less than the first preset value, determines that the transportation terminal position of the cage vehicle at the bin is above-mentioned railway platform.
In some embodiments, above-mentioned first determining module is further used for：In response to current time the bin fortune Except haulage time range corresponding to defeated batch, determine that the transportation terminal position of the cage vehicle at the bin is working area.
In some embodiments, above-mentioned first determining module is further used for：It is working area for transportation terminal position Each cage vehicle, the destination detected in working area with the presence or absence of an at least row cage vehicle are identical as the destination of the cage vehicle；Response In working area in the presence of an at least row cage vehicle destination it is identical with the destination of the cage vehicle, testing goal it is identical it is each arrange be It is no to be filled with；It is not filled in response to the identical at least row cage vehicle in destination, which is stored in and the same transport of cage vehicle In one row cage vehicle of batch；It is all filled in response to the identical each row in destination, which is stored in a new row.
In some embodiments, each haulage time range includes transport initial time and transport finish time；On and Stating transport priority determining unit includes：Duration determining module, the fortune for determining current time and the bin for exporting the cage vehicle The duration between transport finish time corresponding to defeated batch；First transport Priority Determination module, in response to it is above-mentioned when It is working area to grow the priority that the cage vehicle that transportation terminal position is railway platform is determined less than preset duration more than transportation terminal position The priority of cage vehicle；Determine that the priority that transportation terminal position is the cage vehicle of the bin of current transportation batch is more than transportation terminal position It is set to the priority of the cage vehicle of the bin of non-present transport batch.
In some embodiments, above-mentioned transport priority determining unit includes：Second transport Priority Determination module, is used for It is greater than or equal to preset duration in response to above-mentioned duration, determines that transport initial position is that the priority of the cage vehicle of bin is more than transport Initial position is the priority of the cage vehicle in working area；Determine that transportation terminal position is the excellent of the cage vehicle of the bin of current transportation batch First grade is more than the priority for the cage vehicle that transportation terminal position is the bin that non-present transports batch.
In some embodiments, above-mentioned scheduling unit includes：It is maximum concurrently to transport quantity determining module, for determining each cage The maximum of vehicle concurrently transports quantity；Minimum transportation range determining module, for the status information according to each automated guided vehicle With location information, the transport initial position of each cage vehicle and transportation terminal position, respectively transports priority and above-mentioned maximum and ship Defeated quantity determines that each automated guided vehicle transports the minimum transportation range of each transportation route needed for each cage vehicle；Scheduler module, For according to above-mentioned minimum transportation range, dispatching each automated guided vehicle and transporting each cage vehicle.
In some embodiments, above-mentioned unmanned sorting system further includes sky cage vehicle storage area, above-mentioned sky cage vehicle storage area packet Include multiple row sky cage vehicle；And above-mentioned maximum concurrently transport quantity determining module is further used for：According to each automated guided vehicle The probability of each bin to the probability of each row cage vehicle in working area, to current transportation batch, each lattice that batch is transported to non-present Mouthful probability, to the probability of each row cage vehicle of empty cage vehicle storage area, determine first object function；Determine that above-mentioned first object function exists Maximum value under at least one constraints below：Each idle automated guided vehicle transports most cage vehicles, each Cage vehicle distributes most automated guided vehicles, each empty cage vehicle is assigned to most bins for not storing cage vehicle, each It is default that the bin for not storing cage vehicle distributes most one empty cage vehicles, the quantity of each railway platform storage cage vehicle is less than or equal to first The quantity of each column cage vehicle is less than or equal to the second preset value, working area and/or each bin and/or every month in value, working area The quantity that transports and be transported into cage vehicle at platform is equal, each cage at the bin of working area each cage vehicle and current transportation batch Vehicle can only transport each cage vehicle transported at the bin of batch to the corresponding railway platform in transport destination of the cage vehicle, non-present can only It transports to the corresponding working area in transport destination of the cage vehicle；Determine that above-mentioned maximum value is that above-mentioned maximum concurrently transports quantity.
In some embodiments, above-mentioned minimum transportation range determining module is further used for：It is transported according to each homing guidance The location information of vehicle, the transport initial position of each cage vehicle and transportation terminal position, determine each transportation route；According to each transport of execution The corresponding weight of priority of the distance and each transportation route of the probability in path, each transportation route, determines the second object function； Determine minimum value of above-mentioned second object function under at least one of following constraints：Each idle automated guided vehicle Transport most cage vehicles, each cage vehicle distributes most automated guided vehicles, each empty cage vehicle is assigned to most one The bin for not storing cage vehicle, the bin for not storing cage vehicle each distribute the number of most one empty cage vehicles, each railway platform storage cage vehicle Amount less than or equal to the first preset value, in working area the quantity of each column cage vehicle be less than or equal to the second preset value, working area and/or The quantity that transports and be transported into cage vehicle at each bin and/or each railway platform is equal, working area each cage vehicle and current transportation Each cage vehicle at the bin of batch can only transport to the corresponding railway platform in transport destination of the cage vehicle, non-present and transport batch Each cage vehicle at bin can only be transported to the quantity in the corresponding working area in transport destination of the cage vehicle, automated guided vehicle Quantity is concurrently transported more than or equal to above-mentioned maximum.
In some embodiments, above-mentioned scheduler module is further used for：According to the value of the corresponding each probability of above-mentioned minimum value, It dispatches each automated guided vehicle and transports each cage vehicle.
The third aspect, this application provides a kind of servers, including：One or more processors；Storage device, for depositing The one or more programs of storage, when said one or multiple programs are executed by said one or multiple processors so that said one Or multiple processors realize method described in any of the above-described embodiment.
Fourth aspect, this application provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey Method described in any of the above-described embodiment is realized when sequence is executed by processor.
Method and apparatus provided by the present application for dispatching automated guided vehicle in unmanned sorting system, can basis The transport batch of each bin of sorter determines the transportation terminal position of each cage vehicle, then according to obtained each transport Final position and/or the transport initial position of each cage vehicle, determine the transport priority of each cage vehicle, finally excellent according to each transport First grade, the status information of each automated guided vehicle and location information dispatch each automated guided vehicle and transport each cage Vehicle effectively can not only dispatch each automated guided vehicle according to the transport priority of each cage vehicle, and each in scheduling In view of the status information and location information of each automated guided vehicle when automated guided vehicle, so as to effectively reduce Each automated guided vehicle improves sorting efficiency in the operating range for transporting each cage vehicle.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other Feature, objects and advantages will become more apparent upon：
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the schematic layout pattern of the unmanned sorting system of the application；
Fig. 3 is the implementation for dispatching the method for automated guided vehicle in unmanned sorting system according to the application The flow chart of example；
Fig. 4 is the application for dispatching the method for automated guided vehicle in unmanned sorting system according to the application The schematic diagram of scene；
Fig. 5 is to determine transport in unmanned sorting system in the method for automated guided vehicle for dispatching according to the application The flow chart in final position；
Fig. 6 a are to be dispatched respectively in the method for automated guided vehicle according to the application for dispatching in unmanned sorting system Automated guided vehicle transports the flow chart of each cage vehicle；
Fig. 6 b are to be determined respectively in the method for automated guided vehicle according to the application for dispatching in unmanned sorting system The maximum flow chart for concurrently transporting quantity of a cage vehicle；
Fig. 6 c are to be determined most in the method for automated guided vehicle according to the application for dispatching in unmanned sorting system The flow chart of small transportation range；
Fig. 7 is the implementation for dispatching the device of automated guided vehicle in unmanned sorting system according to the application The structural schematic diagram of example；
Fig. 8 is adapted for the structural schematic diagram of the computer system of the server for realizing the embodiment of the present application.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to Convenient for description, is illustrated only in attached drawing and invent relevant part with related.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 show can apply the application for dispatch in unmanned sorting system the method for automated guided vehicle or Exemplary system architecture 100 for dispatching the embodiment of the device of automated guided vehicle in unmanned sorting system.
As shown in Figure 1, system architecture 100 may include terminal device 101,102, and network 103,103 ', 104 He of server Automated guided vehicle 105,106.Network 103 between terminal device 101,102 and server 104 providing communication link Medium, network 103 ' between server 104 and automated guided vehicle 105,106 provide communication link medium. Network 103,103 ' may include various connection types, such as wired, wireless communication link or fiber optic cables etc..
The quantity of each bin of sorter, working area, the cage vehicle stored at railway platform can be shown on terminal device 101,102 And the state of cage vehicle, and the information of display is sent to server 104 by network 103.Automated guided vehicle 105,106 The location information of itself and status information can be sent to server 104 by network 103 '.Server 104 can be according to each The transport initial position of cage vehicle and the location information and state of transportation terminal position and each automated guided vehicle 105,106 Information dispatches each automated guided vehicle 105,106 and transports each cage vehicle.
Terminal device 101,102 can be the various electronic equipments for having display screen, including but not limited to smart mobile phone, flat Plate computer, pocket computer on knee and desktop computer etc..
Automated guided vehicle 105,106 can transport cage vehicle and can be travelled according to given path various Transport vehicle.
Server 104 can be to provide the server of various services, such as each cage to the offer of terminal device 101,102 The dispatch server that the position and state of the state of vehicle and position and automated guided vehicle 105,106 are handled.Scheduling Server can carry out the data such as the position received and state analyzing etc. processing, and by handling result (such as driving path) Feed back to automated guided vehicle 105,106.
It should be noted that the embodiment of the present application provided for dispatching automated guided vehicle in unmanned sorting system Method generally executed by server 104, correspondingly, the device one for dispatching automated guided vehicle in unmanned sorting system As be set in server 104.
It should be understood that the number of the terminal device, network, server and automated guided vehicle in Fig. 1 is only to illustrate Property.According to needs are realized, can have any number of terminal device, network, server and automated guided vehicle.
With continued reference to Fig. 2, it illustrates the schematic layout patterns of the unmanned sorting system of the application.In the present embodiment, nobody Sorting system includes sorter 201, working area 202 and railway platform 203.
Wherein, the package of encapsulation enters sorter 201 through supply line, and sorter 201 includes multiple for exporting package Bin, one or more bins can be bound with same destination, the destination all same of multiple packages of same bin output. It is understood that destination is not the ship-to of package herein, can be from unmanned sorting system to ship-to Between first sortation hubs in multiple sortation hubs for passing through.Each bin has different transport batches, each to transport Batch corresponds to a haulage time range, and the corresponding haulage time range of different transport batches is different.For example, sorter 3 transport batches, sorter daily morning 8 working time are shared daily:00- afternoons 5:00, totally 9 hours, then each transport The haulage time section of batch is 3 hours.The morning 8:The 00- mornings 11:00 is the first transport batch, the morning 11:00- afternoons 2:00 For the second transport batch, afternoon 2:00- afternoons 5:00 transports batch for third.It is understood that each bin can have One or more transport batch.It is placed with cage vehicle at each bin, the cage vehicle for not containing package is empty cage vehicle, equipped with package Cage vehicle be full cage vehicle, the empty cage vehicle at each bin becomes full cage vehicle after filling package, and full cage vehicle needs to pass through homing guidance Transport vehicle is transported to railway platform 203 or working area 202.
Working area 202 just constantly has for the temporary full cage vehicle for filling package since multiple bins are wrapped up in output simultaneously Full cage vehicle needs transported.Under normal circumstances, full cage vehicle should all be transported to the waiting of railway platform 203 and be sent to transport vehicle, but railway platform 203 Size it is limited, with regard to limited, extra full cage vehicle needs to transport to working area 202 to carry out temporarily the full cage vehicle quantity that can be stored It deposits.May include multiple row in working area 202 expires cage vehicle, and each column expire cage vehicle destination it is identical, and each column expires the transport of cage vehicle Batch is also identical.The quantity for the full cage vehicle that can be stored by each column is limited, when the identical multiple full cage vehicles in destination When cannot all deposit in same row, need full cage vehicle to be stored being separately stored in a new row.
Railway platform 203 is for storing cage vehicle to be delivered, and in the present embodiment, cage vehicle to be delivered can be understood as from current The cage vehicle of the bin of batch is transported, current transportation batch refers to the transport batch corresponding to the haulage time range where current time It is secondary.For example, current time is the morning 9:00, then current transportation batch is the first transport batch.It is understood that railway platform The cage vehicle stored on 203 can be full cage vehicle, can also be less than cage vehicle.This is because the package when current transportation batch is transported When contribute completes, the amount of remaining package may be not enough to be full of entire cage vehicle, but these packages still will transport railway platform to standard Preparation goods.
In some optional realization methods of the present embodiment, above-mentioned unmanned sorting system can also include empty cage vehicle storage Area 204, for storing empty cage vehicle.Empty cage vehicle storage area 204 may include multiple row sky cage vehicle, and the quantity of each column sky cage vehicle can phase Deng.It is understood that the transportation terminal position of empty cage vehicle can only not stored at the bin of cage vehicle.
Automated guided vehicle is used in above-mentioned each bin, working area 202, empty cage vehicle storage area 204 and railway platform 203 Between transport cage vehicle.The cage vehicle that automated guided vehicle is transported can be full cage vehicle, or empty cage vehicle.
With continued reference to Fig. 3, it illustrates be used to dispatch automated guided vehicle in unmanned sorting system according to the application One embodiment flow 300.As shown in figure 3, the present embodiment is transported for dispatching homing guidance in unmanned sorting system The method of vehicle, includes the following steps：
Step 301, the status information and location information of each automated guided vehicle are obtained.
In the present embodiment, the method for dispatching automated guided vehicle in unmanned sorting system runs electricity thereon Sub- equipment (such as server shown in FIG. 1) can be by wired connection mode or radio connection from each homing guidance Its status information and location information are received at transport vehicle.Above-mentioned status information may include it is current whether transport cage vehicle, be currently It is no that have unfinished driving path etc., above-mentioned location information may include the position etc. being presently in.
It should be pointed out that above-mentioned radio connection can include but is not limited to 3G/4G connections, WiFi connections, bluetooth Connection, WiMAX connections, Zigbee connections, UWB (ultra wideband) connections and other currently known or exploitations in the future Radio connection.
For example, each automated guided vehicle can be interacted with server by WiFi, and server is to homing guidance Transport vehicle sends driving path, and above-mentioned driving path includes transport initial position and transportation terminal position.Automated guided vehicle It is notified that server after reaching transport initial position, then automated guided vehicle transport cage vehicle, reaches transportation terminal position It postpones and is also notified that server.In this way, server is after receiving automated guided vehicle and reaching the notice of transportation terminal position, it can To think that automated guided vehicle currently non-transport cage vehicle, location are above-mentioned transportation terminal position.
Step 302, the transport batch of each bin is obtained.
In the present embodiment, the method for dispatching automated guided vehicle in unmanned sorting system runs electricity thereon Sub- equipment (such as server shown in FIG. 1) can be obtained respectively by wired connection mode or radio connection from terminal The transport batch of a bin.It is understood that in the present embodiment, each bin of sorter can have at least one transport Batch.
Step 303, according to the transport batch of each bin, the transportation terminal position of each cage vehicle is determined.
Server can determine the transportation terminal position of each cage vehicle according to the transport batch of each bin.Some bins Place may not store cage vehicle, then server needs to dispatch the empty cage vehicle of automated guided vehicle transport to the bin for not storing cage vehicle Place.Storage has cage vehicle at some bins, these cage vehicles are generally the full cage vehicle for filling package, it is thus necessary to determine that its transportation terminal position For working area or railway platform.
In some optional realization methods of the present embodiment, above-mentioned steps 303 specifically can be by unshowned in Fig. 3 Following steps are realized：
For each bin, detects and whether stored cage vehicle at the bin；There is cage vehicle in response to storage at the bin, according to The transport batch of the bin determines the transportation terminal position of the full cage vehicle at the bin；In response to not storing cage vehicle at the bin, According to the transport batch of the bin, determine that the transportation terminal position of at least one empty cage vehicle is the bin.
Include empty cage vehicle and full cage vehicle since automated guided vehicle needs the cage vehicle transported, and the transport of empty cage vehicle is whole Point position can only not store at the bin of cage vehicle, and the transportation terminal position of full cage vehicle is working area or railway platform.Therefore, first It needs to be determined that it is sky cage vehicle or full cage vehicle that automated guided vehicle, which needs the cage vehicle transported, i.e., detecting first at each bin is No storage has cage vehicle.For each bin, when storage has cage vehicle at the bin, then can according to the transport batch of the bin, Determine the transportation terminal position of the full cage vehicle at the bin；It, then can be according to the bin when not storing cage vehicle at the bin Batch is transported, determines that the transportation terminal position of at least one empty cage vehicle is the bin.
In the transport batch according to the bin, when determining the transportation terminal position of the full cage vehicle at the bin, illustratively, Server can determine that the transportation terminal position of the cage vehicle of non-present transport batch is working area, this is because each railway platform is used In the cage vehicle of transport current transportation batch, so the cage vehicle of non-present transport batch all transports working area to first.Simultaneously as every The cage vehicle of the limited amount for the cage vehicle that a railway platform can be stored, some current transportation batches can not transport railway platform, transportation terminal to Position is also working area.
Step 304, according to each transportation terminal position and/or the transport initial position of each cage vehicle, each cage vehicle is determined Transport priority.
The transportation terminal position of each cage vehicle may include：It railway platform, working area and does not store at the bin of cage vehicle, it is each The transport initial position of cage vehicle may include：Bin, empty cage vehicle storage area and working area.Server can be according to above-mentioned each fortune Defeated final position and/or initial position is respectively transported, determines the transport priority of each cage vehicle.
In some optional realization methods of the present embodiment, above-mentioned steps 304 specifically can be by unshowned in Fig. 3 Following steps are realized：
Determine current time and export corresponding to the transport batch of the bin of the cage vehicle transport finish time between when It is long；It is less than preset duration in response to the duration, determines that the priority that transportation terminal position is the cage vehicle of railway platform is more than transport eventually Point is set to the priority of the cage vehicle in working area；Determine that transportation terminal position is the preferential of the cage vehicle of the bin of current transportation batch Grade is more than the priority for the cage vehicle that transportation terminal position is the bin that non-present transports batch.
Server can determine the transport knot corresponding to transport batch of the current time with the bin for exporting the cage vehicle first Duration between the beam moment.In this realization method, when can be the different transport batch setting transport batch conversions of same bin Between, transport batch conversion time within each cage vehicle transport priority and in the fortune for transporting each cage vehicle except batch conversion time Defeated priority is different.For example, there are two transport batches for bin tool, and the transport finish time of previous transport batch is with after The transport initial time of one transport batch is identical, then can set before the transport finish time of previous transport batch and 15 minutes be Transport batch conversion time.When current time, the duration between the transport finish time of present lot was less than 15 minutes, Illustrate that current time is located in transport batch conversion time；When current time is between the transport finish time of present lot When duration is more than 15 minutes, illustrate that current time is located at outside transport batch conversion time.It is understood that when current time position When transporting in batch conversion time, at this point, the package quantity of bin output is reduced, it may be not enough to be full of entire cage vehicle, because This obtained cage vehicle may be half-full cage vehicle, but this cage vehicle is also required to transport railway platform to, to deliver in time.
When above-mentioned duration is less than preset duration, determine that the priority for the cage vehicle for transporting railway platform to is more than the cage for transporting working area to The priority of vehicle.When being located in transport batch conversion time at current time, illustrate that the cage vehicle of current transportation batch will be transported as early as possible Defeated to railway platform may be current transportation batch with the cage vehicle for preparing to deliver, and transport working area to, it is also possible to it is next transport batch, Therefore, setting transports priority of the priority more than the cage vehicle for transporting working area to of the cage vehicle of railway platform to.Meanwhile it determining and transporting to currently The priority for transporting the cage vehicle of the bin of batch is more than the priority for the cage vehicle for transporting the bin that non-present transports batch to.Work as transport When at empty cage vehicle to bin, the package of the bin of current transportation batch, which needs to handle as early as possible, to have hurried the delivery as much as possible, and is needed simultaneously when multiple When wanting empty cage vehicle, the priority that setting transports the cage vehicle of the bin of current transportation batch to is more than the lattice for transporting non-present transport batch to The priority of the cage vehicle of mouth.
Illustratively, following transport priority ranking can be determined according to the above principle：At the bin of current transportation batch The priority of empty cage vehicle to the bin of priority=sky cage vehicle storage area to current transportation batch of the full cage vehicle of railway platform>Temporarily Area is deposited to the priority of the full cage vehicle of railway platform>Non-present transports priority=sky of the full cage vehicle to working area at the bin of batch Cage vehicle storage area transports the priority of the empty cage vehicle at the bin of batch to non-present.
In some optional realization methods of the present embodiment, above-mentioned steps 304 can also by Fig. 3 it is unshowned with Lower step is realized：
It is greater than or equal to preset duration in response to the duration, determines that transport initial position is the priority of the cage vehicle of bin More than the priority for the cage vehicle that transport initial position is working area；Determine that transportation terminal position is the bin of current transportation batch The priority of cage vehicle is more than the priority for the cage vehicle that transportation terminal position is the bin that non-present transports batch.
When above-mentioned duration is greater than or equal to preset duration, the full cage vehicle at bin is can prioritize processing, is secondly handled temporary The full cage vehicle in area is deposited, therefore sets from the priority of the cage vehicle at bin place and is more than from the preferential of the cage vehicle in working area Grade.Meanwhile the priority that can set the empty cage vehicle for the bin for transporting current transportation batch to transports batch more than non-present is transported to Bin empty cage vehicle priority.
Illustratively, following transport priority ranking can be determined according to the above principle：The bin of current transportation batch is extremely The priority of empty cage vehicle at the bin of the priority of the full cage vehicle of railway platform=sky cage vehicle storage area to current transportation batch>It is non-to work as Priority=sky cage vehicle storage area of full cage vehicle of the bin of preceding transport batch to working area transports the bin of batch to non-present The priority of the empty cage vehicle at place>Working area to the full cage vehicle of railway platform priority.
Step 305, according to each transport priority, the status information and location information of each automated guided vehicle, scheduling is each Automated guided vehicle transports each cage vehicle.
After the transport priority that each cage vehicle is determined, server can be in conjunction with the state of each automated guided vehicle Then information and location information are adjusted to determine the minimum driving path for transporting each automated guided vehicle and transporting each cage vehicle It spends each automated guided vehicle and transports each cage vehicle.
It is to be used to dispatch automated guided vehicle in unmanned sorting system according to the present embodiment with continued reference to Fig. 4, Fig. 4 One schematic diagram of the application scenarios of method.In the application scenarios of Fig. 4, server 402 obtains each cage from terminal 401 first The position of vehicle and state and position and the state that each AGV is obtained from multiple AGV 403, then dispatch each AGV according to not With driving path transport cage vehicle.
The method for dispatching automated guided vehicle in unmanned sorting system that above-described embodiment of the application provides, can It is then each according to obtaining according to the transport batch of each bin of sorter, to determine the transportation terminal position of each cage vehicle A transportation terminal position and/or the transport initial position of each cage vehicle, determine the transport priority of each cage vehicle, last according to each Priority, the status information and location information of each automated guided vehicle are transported, each automated guided vehicle transport is dispatched Each cage vehicle effectively can not only dispatch each automated guided vehicle according to the transport priority of each cage vehicle, and In view of the status information and location information of each automated guided vehicle when dispatching each automated guided vehicle, so as to effective Ground reduces each automated guided vehicle in the operating range for transporting each cage vehicle, improves sorting efficiency.
With continued reference to Fig. 5, it illustrates be used to dispatch automated guided vehicle in unmanned sorting system according to the application Method in determine full cage vehicle transportation terminal position flow 500.As shown in figure 5, following step can be passed through in the present embodiment It is rapid to determine the transportation terminal position of full cage vehicle：
Step 501, for each bin, determine whether current time is located at the transport corresponding to the transport batch of the bin In time range.
In the present embodiment, by determining whether current time is located at the haulage time model corresponding to the transport batch of the bin In enclosing, to determine whether the transport batch of the bin is current transportation batch.If the bin is current transportation batch, execute Step 502；If the bin, which is non-present, transports batch, step 505 is directly executed.
Step 502, the corresponding railway platform in transport destination and above-mentioned transport destination of the full cage vehicle at the bin is determined.
If the bin is current transportation batch, it needs to be determined that the full cage vehicle at the bin is needed to transport railway platform to and still be got over Toward working area.In the present embodiment, there are correspondences between railway platform and transport destination, therefore can pass through the transport of full cage vehicle Destination determines the railway platform corresponding to the full cage vehicle.
Step 503, whether the current quantity for detecting the cage vehicle stored on railway platform is equal to the first preset value.
After the corresponding railway platform that full cage vehicle is determined, it is first determined whether can also store full cage vehicle on the railway platform, i.e., Whether the current quantity for the cage vehicle stored on detection railway platform is more than the first preset value.It is understood that first preset value is For the maximum quantity for the cage vehicle that railway platform can be stored.If so, thening follow the steps 504；If not, thening follow the steps 505.
Step 504, determine that the transportation terminal position of the full cage vehicle at the bin is working area.
If the current quantity for the cage vehicle stored on railway platform is equal to the first preset value, illustrate to store again on railway platform new Cage vehicle, therefore, it is necessary to transport the cage vehicle to working area.
Step 505, determine that the transportation terminal position of the full cage vehicle at the bin is railway platform.
If the current quantity for the cage vehicle stored on railway platform is less than the first preset value, illustrate to store again on railway platform new Cage vehicle, therefore, it is necessary to transport the cage vehicle to railway platform.
In some optional realization methods of the present embodiment, when determining the transportation terminal position of full cage vehicle, above-mentioned side Method further includes unshowned following steps in Fig. 5：
For each full cage vehicle that transportation terminal position is working area, detects and whether there is an at least row cage in working area The destination of vehicle is identical as the full destination of cage vehicle；It is full with this in response to there is at least destination of a row cage vehicle in working area The destination of cage vehicle is identical, testing goal it is identical it is each row whether be filled with；In response to the identical at least row cage in destination Vehicle is not filled with, this is expired cage vehicle be stored in expires cage vehicle in a batch of row cage vehicle with this；It is identical each in response to destination Row are all filled with, this, which is expired cage vehicle, is stored in a new row.
Must be full cage vehicle after it is working area that the transportation terminal position of cage vehicle, which is determined, in this realization method.It is temporary Multiple row can be stored in area expires cage vehicle, and the destination of each full cage vehicle of row is identical.It detects first in working area with the presence or absence of at least The destination of one row cage vehicle is identical as cage vehicle destination to be stored, if there is destination and the cage to be stored of multiple row cage vehicle The destination of vehicle is identical, detects whether above-mentioned multiple row has been filled with, if there is at least one row are not filled with, then by the cage vehicle to be stored It is stored in the row not being filled with；If above-mentioned multiple row has been filled with, which is stored in a new row.
It is understood that when there is no a destination row identical with the destination of cage vehicle to be stored in working area When, then directly the cage vehicle to be stored is stored in a new row.
The method for dispatching automated guided vehicle in unmanned sorting system that above-described embodiment of the application provides, can According to the transport batch of bin, to determine the transportation terminal position of the cage vehicle at bin so that the storage of cage vehicle more rationalizes.
With continued reference to Fig. 6 a, it illustrates be used to dispatch automated guided vehicle in unmanned sorting system according to the application Method in dispatch the flow 600 that each automated guided vehicle transports each cage vehicle.As shown in Figure 6 a, in the present embodiment, Ke Yitong It crosses following steps and transports each cage vehicle to dispatch each automated guided vehicle：
Step 601, determine that the maximum of each cage vehicle concurrently transports quantity.
Due to expiring cage vehicles and empty cage vehicle there are multiple in unmanned sorting system, there may be multiple cages for synchronization Vehicle needs are transported by automated guided vehicle.When transporting each cage vehicle, automated guided vehicle needs to travel to the fortune of each cage vehicle Defeated initial position.Since the transport initial position of each cage vehicle can be only present in each row, each bin and empty cage vehicle in working area Storage area, wherein each bin includes the bin of current transportation batch and the bin of non-present transport batch.
In the present embodiment, server can determine that the maximum of each cage vehicle concurrently transports quantity according to various ways, for example, can The quantity respectively arranged in the quantity, the quantity of each bin and the empty cage vehicle storage area that are respectively arranged with working area determining first, then really Above-mentioned summation and the product of a coefficient are concurrently transported quantity by the summation of fixed above-mentioned quantity as maximum；It can also be according to certainly The quantity of dynamic guide transport lorry and each position determine that maximum concurrently transports quantity as the probability of transport initial position；Also An object function can be determined first, determine maximum value of the above-mentioned object function under one or more constraintss, and really This fixed maximum value is that maximum concurrently transports quantity.
In some optional realization methods of the present embodiment, each cage can be determined by the following steps in Fig. 6 b The maximum of vehicle concurrently transports quantity：
Step 6011, according to the probability of each row cage vehicle in each automated guided vehicle to working area, arrive current transportation batch Each bin probability, to non-present transport batch each bin probability, to the probability of each row cage vehicle of empty cage vehicle storage area, really Determine first object function.
In this realization method, if sharing I automated guided vehicle, working area shares J row cage vehicles, current transportation batch Bin shares K, and the bin that non-present transports batch shares P, and empty cage vehicle storage area shares Q row.Utilize xijIndicate scheduling i-th A automated guided vehicle goes transport positioned at the probability of the cage vehicle of working area jth row；Utilize yikIndicate i-th of homing guidance of scheduling Transport vehicle goes transport positioned at the probability of the cage vehicle of k-th of bin of current transportation batch；Utilize zipIt indicates to dispatch i-th and lead automatically Draw the probability of the cage vehicle for p-th of bin that transport vehicle goes transport to be located at non-present transport batch；Utilize uiqIndicate scheduling i-th certainly Dynamic guide transport lorry goes transport positioned at the probability of the cage vehicle of the q row of empty cage vehicle storage area.Wherein, xij、yik、zip、uiqIt can take Value 0 or 1, xij=0 indicates that the cage vehicle that i-th of automated guided vehicle goes transport to be located at working area jth row will not be dispatched；xij=1 Indicate the cage vehicle that i-th of automated guided vehicle of scheduling goes transport to be located at working area jth row；yik=0 indicates to dispatch i-th Automated guided vehicle goes transport positioned at the cage vehicle of k-th of bin of current transportation batch；yik=1 indicates scheduling i-th automatically Guide transport lorry goes transport positioned at the cage vehicle of k-th of bin of current transportation batch；zip=0 indicates to dispatch i-th automatically Guide transport lorry goes transport to be located at the cage vehicle that non-present transports p-th of bin of batch；zip=1 i-th of expression scheduling is led automatically Draw the cage vehicle for p-th of bin that transport vehicle goes transport to be located at non-present transport batch；uiq=0 indicates to dispatch i-th automatically Guide transport lorry goes transport to be located at the cage vehicle that the q of empty cage vehicle storage area is arranged；uiq=1 indicates scheduling i-th of homing guidance transport Vehicle goes transport to be located at the cage vehicle that the q of empty cage vehicle storage area is arranged.
Then above-mentioned first object function can be indicated by following formula：
Wherein, 1≤i≤I；1≤j≤J；1≤k≤K；1≤q≤Q.
Step 6012, maximum value of the above-mentioned first object function under at least one of following constraints is determined：It is each empty Not busy automated guided vehicle transports most cage vehicles, each cage vehicle distributes most automated guided vehicle, a Mei Gekong Cage vehicle is assigned to most bins for not storing cage vehicle, each bin for not storing cage vehicle distributes most one empty cage vehicles, every The quantity that the quantity of a railway platform storage cage vehicle is less than or equal to each column cage vehicle in the first preset value, working area is less than or equal to second The quantity for transporting and being transported into cage vehicle at preset value, working area and/or each bin and/or each railway platform is equal, working area every Each cage vehicle at a cage vehicle and the bin of current transportation batch can only be transported to the transport destination corresponding moon of the cage vehicle Each cage vehicle that platform, non-present are transported at the bin of batch can only be transported to the corresponding working area in transport destination of the cage vehicle.
In this realization method, if the quantity of shared railway platform is R, S row cage vehicles, current transportation batch can also be stored in working area Bin in not store the bin quantity of cage vehicle be T, not storing the bin quantity of cage vehicle in the bin of non-present transport batch is O.Utilize vjrIndicate that the cage vehicle for being located at working area jth row needs to transport the probability of r-th of railway platform to；Utilize wkrIt indicates to be located at current The cage vehicle for transporting k-th of bin of batch needs to transport the probability of r-th of railway platform to；Utilize lpsIndicate that being located at non-present transports batch The cage vehicle of p-th of bin need to transport to the probability of working area s row；Utilize mqtIndicate the q row for being located at empty cage vehicle storage area Cage vehicle need to transport the probability of t-th of bin for not storing cage vehicle of current transportation batch to；Utilize nqoIt indicates to be located at empty cage vehicle The cage vehicle of the q row of storage area needs to transport the probability of o-th of bin for not storing cage vehicle of non-present transport batch to.Wherein, vjr、wkr、lps、mqt、nqoIt can be with value 0 or 1, vjr=0 indicates that the cage vehicle for being located at working area jth row need not transport to r-th month Platform；vjr=1 indicates that the cage vehicle for being located at working area jth row needs to transport r-th of railway platform to；wkr=0 indicates to be located at current transportation batch The cage vehicle of k-th of bin need not transport r-th of railway platform to；wkr=1 indicates the cage of k-th of bin positioned at current transportation batch Vehicle needs to transport r-th of railway platform to；lps=0 indicates that the cage vehicle for being located at p-th of bin of non-present transport batch need not transport to temporarily Deposit area s row；lps=1 indicates that the cage vehicle for being located at p-th of bin of non-present transport batch needs to transport working area s row to；mqt =0 indicates that the cage vehicle for the q row for being located at empty cage vehicle storage area need not transport do not store cage vehicle t-th of current transportation batch to Bin；mqt=1 indicates that the cage vehicle for the q row for being located at empty cage vehicle storage area needed to transport to current transportation batch does not store cage vehicle T-th of bin；nqo=0 indicates that the cage vehicle of the q row of empty cage vehicle storage area need not transport not storing for non-present transport batch to O-th of bin of cage vehicle；nqo=1 indicates that the cage vehicle of the q row of empty cage vehicle storage area needs to transport non-present transport batch to not Store o-th of bin of cage vehicle.Also, 1≤r≤R, 1≤s≤S, 1≤t≤T, 1≤o≤O.
Wherein, constraints " each idle automated guided vehicle transports most cage vehicles " can utilize following public affairs Formula indicates：
Constraints " each cage vehicle distributes most automated guided vehicles " can be indicated using following formula：
Constraints " each sky cage vehicle be assigned to most bins for not storing cage vehicle " can using following formula come It indicates：
Constraints " the empty cage vehicle of most one of bin distribution for not storing cage vehicle each " can be using following formula come table Show：
Constraints " quantity of each railway platform storage cage vehicle is less than or equal to the first preset value " can utilize following formula To indicate：
Wherein, A1For the first preset value, hrThe current quantity of cage vehicle is stored for railway platform.
Constraints " quantity of each column cage vehicle is less than or equal to the second preset value in working area " can utilize following formula To indicate：
Wherein, A2For the first preset value, hrThe current quantity of cage vehicle is stored for working area.
Constraints " quantity for transporting and being transported into cage vehicle at working area and/or each bin and/or each railway platform is equal " It can be indicated using following formula：
Constraints " each cage vehicle at each cage vehicle in working area and the bin of current transportation batch can only transport to The corresponding railway platform in transport destination of the cage vehicle " can be indicated using following formula：
Wherein, ajrIndicate that the association of the destination destination corresponding with r-th of railway platform of the jth row cage vehicle in working area is closed System, ajr=0 indicates that the destination destination corresponding with r-th of railway platform of jth row cage vehicle in working area is identical, ajr=1 indicates temporary It is different to deposit the destination destination corresponding from r-th of railway platform of jth row cage vehicle in area.bkrIndicate k-th of current transportation batch The incidence relation of the corresponding destination of bin destination corresponding with r-th of railway platform, bkr=0 indicates the jth row cage vehicle in working area Destination destination corresponding with r-th of railway platform it is identical, bkr=1 indicates the destination of the jth row cage vehicle in working area and r-th The corresponding destination of railway platform is different.
" each cage vehicle at the bin of non-present transport batch can only be transported to the transport destination of the cage vehicle constraints Corresponding working area " can be indicated using following formula：
Wherein, cpsIndicate the mesh of the corresponding destination of p-th of bin and working area s row cage vehicles of non-present transport batch Ground incidence relation, cps=0 indicates the corresponding destination of p-th of bin of non-present transport batch and working area s row cages The destination of vehicle is identical, cps=1 indicates the corresponding destination of p-th of bin of non-present transport batch and working area s row cages The destination of vehicle is different.
Step 6013, determine that above-mentioned maximum value is that maximum concurrently transports quantity.
Step 602, according to the transport initial position of the status information of each automated guided vehicle and location information, each cage vehicle Quantity is concurrently transported with transportation terminal position, each transport priority and above-mentioned maximum, determines each automated guided vehicle transport The minimum transportation range of each transportation route needed for each cage vehicle.
Server determines behind the position and state for obtaining each automated guided vehicle and needs to dispatch current non-transport cage The automated guided vehicle of vehicle.After above-mentioned maximum concurrently transport quantity is determined, in order to transport above-mentioned need simultaneously as far as possible The quantity of the cage vehicle to be transported, the then automated guided vehicle to be dispatched should concurrently transport quantity not less than above-mentioned maximum.Simultaneously Server can be combined with transport initial position and the transport priority of transportation terminal position and each cage vehicle of each cage vehicle, come Determine that each each automated guided vehicle transports the minimum transportation range of the transportation route needed for each cage vehicle.
In some optional realization methods of the present embodiment, above-mentioned steps 602 specifically can be by shown in Fig. 6 c Following steps are realized：
Step 6021, eventually according to the location information of each automated guided vehicle, the transport initial position of each cage vehicle and transport Point position, determines each transportation route.
In this realization method, transportation route includes from the position of automated guided vehicle to transport initial position and transport Initial position to transportation terminal position.
Step 6022, according to the excellent of the probability of each transportation route of execution, the distance of each transportation route and each transportation route The corresponding weight of first grade, determines the second object function.
In this realization method, the second object function can be indicated by following formula：
Wherein, dijIndicate the distance between current location and the working area jth row of i-th of automated guided vehicle；dikTable Show the current location of i-th of automated guided vehicle and the distance between k-th of bin of current transportation batch；dipIndicate i-th The distance between p-th of bin of the current location of a automated guided vehicle and non-present transport batch；diqIndicate i-th certainly The distance between the current location of dynamic guide transport lorry and the q row of empty cage vehicle storage area；djrIndicate working area jth row and r The distance between a railway platform；dkrThe distance between k-th of bin and r-th of railway platform of expression current transportation batch；dpsIndicate non- The distance between p-th of bin of current transportation batch and working area s row；dqtIndicate that the q of empty cage vehicle storage area is arranged and worked as The distance between t-th of the bin for not storing cage vehicle of preceding transport batch；dqoIndicate the q row and non-present of empty cage vehicle storage area Transport the distance between o-th of the bin for not storing cage vehicle of batch.The transport that the cage vehicle in α expressions working area transports railway platform to is preferential Weight corresponding to grade；β indicates that the cage vehicle at the bin of current transportation batch transports the power corresponding to the transport priority of railway platform to Weight；γ indicates that the cage vehicle at the bin of non-present transport batch transports the weight corresponding to the transport priority in working area to；η is indicated The cage vehicle of empty cage vehicle storage area transports the weight corresponding to the transport priority at the bin of current transportation batch to；θ indicates empty cage The cage vehicle of vehicle storage area transports the weight corresponding to the transport priority at the bin of non-present transport batch to.
Can be that each transport priority determines it is understood that after the transport priority of each driving path is determined Corresponding weight.Also, transport priority is higher, and corresponding weight should be bigger.
It is understood that in this realization method, above-mentioned second object function, example can also be indicated using other formula Such as
Wherein, λ indicates the cost that automated guided vehicle traveling unit distance is spent.
Step 6023, minimum value of above-mentioned second object function under at least one of following constraints is determined：It is each empty Not busy automated guided vehicle transports most cage vehicles, each cage vehicle distributes most automated guided vehicle, a Mei Gekong Cage vehicle is assigned to most bins for not storing cage vehicle, each bin for not storing cage vehicle distributes most one empty cage vehicles, every The quantity that the quantity of a railway platform storage cage vehicle is less than or equal to each column cage vehicle in the first preset value, working area is less than or equal to second The quantity for transporting and being transported into cage vehicle at preset value, working area and/or each bin and/or each railway platform is equal, working area every Each cage vehicle at a cage vehicle and the bin of current transportation batch can only be transported to the transport destination corresponding moon of the cage vehicle Platform, non-present transport batch bin at each cage vehicle can only transport to the corresponding working area in transport destination of the cage vehicle, The quantity of automated guided vehicle concurrently transports quantity more than or equal to the maximum.
It is multiple identical as constraints in step 6012 in above-mentioned constraints, it is not repeated herein.
It, can be with for constraints " quantity of automated guided vehicle concurrently transports quantity more than or equal to the maximum " It is indicated using following formula：
Wherein, f1For first object function, max f1Quantity is concurrently transported for maximum.
Step 603, it according to above-mentioned minimum transportation range, dispatches each automated guided vehicle and transports each cage vehicle.
After above-mentioned minimum transportation range is determined, it may be determined that each automated guided vehicle transports each of each cage vehicle Transportation route, then server can be to each automated guided vehicle transmission driving path, so that each automated guided vehicle is pressed It goes to transport each cage vehicle according to above-mentioned driving path.
In some optional realization methods of the present embodiment, above-mentioned steps 603 can be by being not shown in Fig. 6 a- Fig. 6 c Following steps realize：
According to the value of the corresponding each probability of above-mentioned minimum value, dispatches each automated guided vehicle and transport each cage vehicle.
After the minimum value that above-mentioned second object function is determined, can according to the value of the corresponding each probability of the minimum value, The driving path for determining each automated guided vehicle, so as to send driving path to each automated guided vehicle, with scheduling Each automated guided vehicle transports each cage vehicle along above-mentioned driving path.
The method for dispatching automated guided vehicle in unmanned sorting system that above-described embodiment of the application provides, energy Enough transportation demands for meeting each cage vehicle simultaneously as far as possible, and make the operating range of each automated guided vehicle most short, effectively Ground saves transportation cost.
With further reference to Fig. 7, as the realization to method shown in above-mentioned each figure, this application provides one kind for dispatching nothing One embodiment of the device of automated guided vehicle in people's sorting system, the method for the device embodiment as shown in figure 3 are implemented Example is corresponding, which specifically can be applied in various electronic equipments.The device is used for unmanned sorting system shown in Fig. 2.
As shown in fig. 7, the device 700 for dispatching automated guided vehicle in unmanned sorting system of the present embodiment wraps It includes：First acquisition unit 701, second acquisition unit 702, transportation terminal position determination unit 703, transport priority determining unit 704 and scheduling unit 705.
Wherein, first acquisition unit 701, the status information for obtaining each automated guided vehicle and location information.
Second acquisition unit 702, the transport batch for obtaining each bin.
Transportation terminal position determination unit 703 determines the transport of each cage vehicle for the transport batch according to each bin Final position.
Priority determining unit 704 is transported, for the transport start bit according to each transportation terminal position and/or each cage vehicle It sets, determines the transport priority of each cage vehicle.
Scheduling unit 705, for being believed according to each transport priority, the status information of each automated guided vehicle and position Breath dispatches each automated guided vehicle and transports each cage vehicle.
In some optional realization methods of the present embodiment, above-mentioned transportation terminal position determination unit 703 can be into one Step includes unshowned detection module in Fig. 7, the first determining module and the second determining module.
Wherein, detection module, for for each bin, detecting and whether having stored cage vehicle at the bin.
First determining module, for having cage vehicle in response to storage at the bin, according to the transport batch of the bin, determining should The transportation terminal position of cage vehicle at bin.
Second determining module, in response to not storing cage vehicle at the bin, according to the transport batch of the bin, determining extremely The transportation terminal position of a few cage vehicle is the bin.
In some optional realization methods of the present embodiment, above-mentioned first determining module can be further used for：Response It is located in current time within the scope of the haulage time corresponding to the transport batch of the bin, determines the transport of the cage vehicle at the bin The corresponding railway platform in destination and the transport destination；Whether the current quantity for detecting the cage vehicle stored on the railway platform is equal to the One preset value；It is equal to the first preset value in response to the current quantity for the cage vehicle stored on railway platform, determines the cage vehicle at the bin Transportation terminal position is working area.
In some optional realization methods of the present embodiment, above-mentioned first determining module can be further used for：Response It is less than the first preset value in the current quantity for the cage vehicle stored on railway platform, determines that the transportation terminal position of the cage vehicle at the bin is The railway platform.
In some optional realization methods of the present embodiment, above-mentioned first determining module can be further used for：Response Except haulage time range of the current time corresponding to the transport batch of the bin, the transport of the cage vehicle at the bin is determined Final position is working area.
In some optional realization methods of the present embodiment, above-mentioned first determining module can be further used for：For Transportation terminal position is each cage vehicle in working area, detects and whether there is at least destination of a row cage vehicle in working area and be somebody's turn to do The destination of cage vehicle is identical；It is identical as the destination of the cage vehicle in response to there is the destination of an at least row cage vehicle in working area, Testing goal it is identical it is each row whether be filled with；It is not filled in response to the identical at least row cage vehicle in destination, by the cage vehicle Be stored in the cage vehicle it is same transport batch a row cage vehicle in；It is all filled in response to the identical each row in destination, by the cage vehicle It is stored in a new row.
In some optional realization methods of the present embodiment, each haulage time range includes transport initial time and fortune Defeated finish time.Then above-mentioned transport priority determining unit 704 may further include unshowned duration determining module in Fig. 7 And first transport Priority Determination module.
Wherein, duration determining module, for determining corresponding to transport batch of the current time with the bin for exporting the cage vehicle Transport finish time between duration.
First transport Priority Determination module determines transportation terminal position for being less than preset duration in response to above-mentioned duration The priority for being set to the cage vehicle of railway platform is more than the priority for the cage vehicle that transportation terminal position is working area；Determine transportation terminal position It is more than the cage that transportation terminal position is the bin that non-present transports batch for the priority of the cage vehicle of the bin of current transportation batch The priority of vehicle.
In some optional realization methods of the present embodiment, above-mentioned transport priority determining unit 704 can be further Including unshowned second transport Priority Determination module in Fig. 7, for being greater than or equal to preset duration in response to the duration, Determine that transport initial position is the priority that the priority of the cage vehicle of bin is more than the cage vehicle that transport initial position is working area；Really It is non-present transport to determine the priority of the cage vehicle for the bin that transportation terminal position is current transportation batch more than transportation terminal position The priority of the cage vehicle of the bin of batch.
In some optional realization methods of the present embodiment, above-mentioned scheduling unit 705 may further include in Fig. 7 not Maximum concurrently transport quantity determining module, minimum transportation range determining module and the scheduler module shown.
Wherein, maximum concurrently to transport quantity determining module, for determining that the maximum of each cage vehicle concurrently transports quantity.
Minimum transportation range determining module, for according to the status information and location information of each automated guided vehicle, each The transport initial position and transportation terminal position of cage vehicle, each transport priority and the maximum concurrently transport quantity, determine each Automated guided vehicle transports the minimum transportation range of each transportation route needed for each cage vehicle.
Scheduler module, for according to the minimum transportation range, dispatching each automated guided vehicle and transporting each cage vehicle.
In some optional realization methods of the present embodiment, above-mentioned maximum concurrently transport quantity determining module can be into one Step is used for：According to the probability of each row cage vehicle in each automated guided vehicle to working area, to each bin of current transportation batch Probability, to non-present transport batch each bin probability, to the probability of each row cage vehicle of empty cage vehicle storage area, determine first object Function；Determine maximum value of the first object function under at least one of following constraints：Each idle homing guidance Transport vehicle transports most cage vehicles, each cage vehicle distributes most automated guided vehicles, each empty cage vehicle is assigned to most More bins for not storing cage vehicle, the empty cage vehicle of each most one of bin distribution for not storing cage vehicle, each railway platform storage cage The quantity that the quantity of vehicle is less than or equal to each column cage vehicle in the first preset value, working area is less than or equal to the second preset value, keeps in The quantity that transports and be transported into cage vehicle at area and/or each bin and/or each railway platform is equal, working area each cage vehicle and works as Each cage vehicle at the bin of preceding transport batch can only be transported to the corresponding railway platform in transport destination of the cage vehicle, non-present transport Each cage vehicle at the bin of batch can only be transported to the corresponding working area in transport destination of the cage vehicle；Determine the maximum value Quantity is concurrently transported for the maximum.
In some optional realization methods of the present embodiment, above-mentioned minimum transportation range determining module can be used further In：According to the location information of each automated guided vehicle, the transport initial position of each cage vehicle and transportation terminal position, each fortune is determined Defeated path；It is corresponding according to the priority for executing the probability of each transportation route, the distance of each transportation route and each transportation route Weight determines the second object function；Determine minimum value of second object function under at least one of following constraints：Often The automated guided vehicle of a free time transports most cage vehicles, each cage vehicle distributes most automated guided vehicles, every A sky cage vehicle is assigned to most bins for not storing cage vehicle, each empty cage of most one of bin distribution for not storing cage vehicle The quantity that vehicle, each railway platform store cage vehicle is less than or waits less than or equal to the quantity of each column cage vehicle in the first preset value, working area The quantity for transporting and being transported into cage vehicle at the second preset value, working area and/or each bin and/or each railway platform is equal, temporary Each cage vehicle at each cage vehicle in area and the bin of current transportation batch can only be transported to the transport destination pair of the cage vehicle The railway platform answered, non-present transport batch bin at each cage vehicle can only to transport the transport destination to the cage vehicle corresponding temporarily Deposit area, the quantity of automated guided vehicle concurrently transports quantity more than or equal to the maximum.
In some optional realization methods of the present embodiment, above-mentioned scheduler module can be further used for：According to above-mentioned The value of the corresponding each probability of minimum value dispatches each automated guided vehicle and transports each cage vehicle.
The device for dispatching automated guided vehicle in unmanned sorting system that above-described embodiment of the application provides, can It is then each according to obtaining according to the transport batch of each bin of sorter, to determine the transportation terminal position of each cage vehicle A transportation terminal position and/or the transport initial position of each cage vehicle, determine the transport priority of each cage vehicle, last according to each Priority, the status information and location information of each automated guided vehicle are transported, each automated guided vehicle transport is dispatched Each cage vehicle effectively can not only dispatch each automated guided vehicle according to the transport priority of each cage vehicle, and In view of the status information and location information of each automated guided vehicle when dispatching each automated guided vehicle, so as to effective Ground reduces each automated guided vehicle in the operating range for transporting each cage vehicle, improves sorting efficiency.
It should be appreciated that for dispatching the unit 701 described in the device 700 of automated guided vehicle in unmanned sorting system It is corresponding with each step in the method with reference to described in figure 3 respectively to unit 705.It is sung as a result, above with respect to for synthesizing The operation of the method description of sound and feature are equally applicable to device 700 and unit wherein included, and details are not described herein.Device 700 corresponding units can cooperate with the unit in server to realize the scheme of the embodiment of the present application.
Below with reference to Fig. 8, it illustrates the computer systems 800 suitable for the server for realizing the embodiment of the present application Structural schematic diagram.Server shown in Fig. 8 is only an example, should not be to the function and use scope band of the embodiment of the present application Carry out any restrictions.
As shown in figure 8, computer system 800 includes central processing unit (CPU) 801, it can be read-only according to being stored in Program in memory (ROM) 802 or be loaded into the program in random access storage device (RAM) 803 from storage section 808 and Execute various actions appropriate and processing.In RAM 803, also it is stored with system 800 and operates required various programs and data. CPU 801, ROM 802 and RAM 803 are connected with each other by bus 804.Input/output (I/O) interface 805 is also connected to always Line 804.
It is connected to I/O interfaces 805 with lower component：Importation 806 including keyboard, mouse etc.；It is penetrated including such as cathode The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loud speaker etc.；Storage section 808 including hard disk etc.； And the communications portion 809 of the network interface card including LAN card, modem etc..Communications portion 809 via such as because The network of spy's net executes communication process.Driver 810 is also according to needing to be connected to I/O interfaces 805.Detachable media 811, such as Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on driver 810, as needed in order to be read from thereon Computer program be mounted into storage section 808 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising carrying is on a machine-readable medium Computer program, which includes the program code for method shown in execution flow chart.In such implementation In example, which can be downloaded and installed by communications portion 809 from network, and/or from detachable media 811 It is mounted.When the computer program is executed by central processing unit (CPU) 801, limited in execution the present processes upper State function.
It should be noted that computer-readable medium described herein can be computer-readable signal media or meter Calculation machine readable storage medium storing program for executing either the two arbitrarily combines.Computer readable storage medium for example can be --- but not Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or arbitrary above combination.Meter The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to：Electrical connection with one or more conducting wires, just It takes formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type and may be programmed read-only storage Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device, Or above-mentioned any appropriate combination.In this application, can be any include computer readable storage medium or storage journey The tangible medium of sequence, the program can be commanded the either device use or in connection of execution system, device.And at this In application, computer-readable signal media may include in a base band or as the data-signal that a carrier wave part is propagated, Wherein carry computer-readable program code.Diversified forms may be used in the data-signal of this propagation, including but unlimited In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for By instruction execution system, device either device use or program in connection.Include on computer-readable medium Program code can transmit with any suitable medium, including but not limited to：Wirelessly, electric wire, optical cable, RF etc. or above-mentioned Any appropriate combination.
Flow chart in attached drawing and block diagram, it is illustrated that according to the system of the various embodiments of the application, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part for a part for one module, program segment, or code of table, the module, program segment, or code includes one or more uses The executable instruction of the logic function as defined in realization.It should also be noted that in some implementations as replacements, being marked in box The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually It can be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.Also it to note Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard The mode of part is realized.Described unit can also be arranged in the processor, for example, can be described as：A kind of processor packet It includes first acquisition unit, second acquisition unit, transportation terminal position determination unit, transport priority determining unit 704 and adjusts Spend unit.Wherein, the title of these units does not constitute the restriction to the unit itself under certain conditions, for example, first obtains Unit is taken to be also described as " obtaining the status information of each automated guided vehicle and the unit of location information ".
As on the other hand, present invention also provides a kind of computer-readable medium, which can be Included in device described in above-described embodiment；Can also be individualism, and without be incorporated the device in.Above-mentioned calculating Machine readable medium carries one or more program, when one or more of programs are executed by the device so that should Device：Obtain the status information and location information of each automated guided vehicle；Obtain the transport batch of each bin；According to each The transport batch of a bin determines the transportation terminal position of each cage vehicle；According to each transportation terminal position and/or each cage vehicle Initial position is transported, determines the transport priority of each cage vehicle；According to each transport priority, the state of each automated guided vehicle Information and location information dispatch each automated guided vehicle and transport each cage vehicle.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art Member should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein Can technical characteristic replaced mutually and the technical solution that is formed.

Claims (26)

1.一种用于调度无人分拣系统中自动导引运输车的方法，其特征在于，无人分拣系统包括分拣机、暂存区以及月台，所述分拣机包括多个输出包裹的格口，每个格口处放置有用于接收包裹的笼车，不同的格口具有不同的运输批次，各运输批次与预设的各运输时间范围一一对应，所述暂存区用于存储暂存的装满包裹的笼车，所述月台用于存放待发货的笼车，自动导引运输车用于在所述格口、所述暂存区以及所述月台之间运输笼车；1. A method for dispatching automatic guided transport vehicles in an unmanned sorting system, characterized in that the unmanned sorting system includes a sorter, a temporary storage area and a platform, and the sorter includes a plurality of The slot for outputting parcels, each slot is placed with a cage car for receiving parcels, different slots have different transport batches, and each transport batch corresponds to the preset transport time range one by one, the temporary The storage area is used to store temporarily stored cage cars full of packages, the platform is used to store cage cars to be shipped, and the automatic guided transport vehicle is used Transport cage cars between platforms; 所述方法包括：The methods include: 获取各个自动导引运输车的状态信息和位置信息；Obtain the status information and location information of each automatic guided transport vehicle; 获取各个格口的运输批次；Obtain the transportation batch of each grid; 根据各个格口的运输批次，确定各个笼车的运输终点位置；According to the transportation batch of each grid, determine the transportation terminal position of each cage car; 根据各运输终点位置和/或各个笼车的运输起始位置，确定各个笼车的运输优先级；Determine the transport priority of each cage car according to the transport end position and/or the transport start position of each cage car; 根据各运输优先级、各自动导引运输车的状态信息和位置信息，调度各自动导引运输车运输各个笼车。According to each transportation priority, status information and location information of each automatic guided transportation vehicle, each automatic guided transportation vehicle is dispatched to transport each cage car. 2.根据权利要求1所述的方法，其特征在于，所述根据各个格口的运输批次，确定各个笼车的运输终点位置，包括：2. The method according to claim 1, characterized in that, determining the transport terminal position of each cage car according to the transport batch of each grid, comprising: 对于每个格口，检测该格口处是否存放有笼车；For each grid opening, detect whether there is a cage car stored at the grid opening; 响应于该格口处存放有笼车，根据该格口的运输批次，确定该格口处的笼车的运输终点位置；In response to the cage car being stored at the grid, determine the transport terminal position of the cage car at the grid according to the transport batch at the grid; 响应于该格口处未存放笼车，根据该格口的运输批次，确定至少一个笼车的运输终点位置为该格口。In response to the fact that no cage car is stored at the bay, according to the transport batch of the bay, the transportation terminal position of at least one cage car is determined as the bay. 3.根据权利要求2所述的方法，其特征在于，所述根据该格口的运输批次，确定该格口处的笼车的运输终点位置，包括：3. The method according to claim 2, characterized in that, determining the transport terminal position of the cage car at the grid according to the transport batch at the grid includes: 响应于当前时刻位于该格口的运输批次所对应的运输时间范围内，确定该格口处的笼车的运输目的地及所述运输目的地对应的月台；检测所述月台上存放的笼车的当前数量是否等于第一预设值；In response to the transportation time range corresponding to the transportation batch located in the grid at the current moment, determine the transportation destination of the cage car at the grid and the platform corresponding to the transportation destination; detect the storage on the platform; Whether the current number of cage cars is equal to the first preset value; 响应于月台上存放的笼车的当前数量等于第一预设值，确定该格口处的笼车的运输终点位置为暂存区。In response to the fact that the current quantity of cage cars stored on the platform is equal to the first preset value, it is determined that the transport terminal position of the cage cars at the bay is the temporary storage area. 4.根据权利要求3所述的方法，其特征在于，所述根据该格口的运输批次，确定该格口处的笼车的运输终点位置，包括：4. The method according to claim 3, characterized in that, according to the transportation batch of the grid, determining the transport terminal position of the cage car at the grid includes: 响应于月台上存放的笼车的当前数量小于第一预设值，确定该格口处的笼车的运输终点位置为所述月台。In response to the current quantity of cage cars stored on the platform being less than a first preset value, it is determined that the terminal position of the cage cars at the bay is the platform. 5.根据权利要求2所述的方法，其特征在于，所述根据该格口的运输批次，确定该格口处的笼车的运输终点位置，包括：5. The method according to claim 2, characterized in that, according to the transportation batch of the grid, determining the transport terminal position of the cage car at the grid includes: 响应于当前时刻在该格口的运输批次所对应的运输时间范围之外，确定该格口处的笼车的运输终点位置为暂存区。In response to the fact that the current moment is outside the transport time range corresponding to the transport batch of the grid, determine the transport terminal position of the cage car at the grid as the temporary storage area. 6.根据权利要求3-5任一项所述的方法，其特征在于，所述根据该格口的运输批次，确定该格口处的笼车的运输终点位置，还包括：6. The method according to any one of claims 3-5, characterized in that, according to the transport batch of the grid, determining the transport terminal position of the cage car at the grid also includes: 对于运输终点位置为暂存区的每一个笼车，检测暂存区中是否存在至少一列笼车的目的地与该笼车的目的地相同；For each cage car whose transportation terminal position is the temporary storage area, detect whether there is at least one cage car in the temporary storage area whose destination is the same as the destination of the cage car; 响应于暂存区中存在至少一列笼车的目的地与该笼车的目的地相同，检测目的地相同的各列是否已存满；In response to the fact that there is at least one row of cage cars with the same destination as the destination of the cage car in the temporary storage area, it is detected whether each row with the same destination is full; 响应于目的地相同的至少一列笼车未存满，将该笼车存放在与该笼车同一运输批次的一列笼车中；In response to at least one train of cage cars with the same destination being not full, storing the cage car in a train of cage cars of the same transport batch as the cage car; 响应于目的地相同的各列都存满，将该笼车存放在新的一列。In response to each column with the same destination being full, the cage car is deposited in a new column. 7.根据权利要求1所述的方法，其特征在于，每个运输时间范围包括运输起始时刻和运输结束时刻；以及7. The method of claim 1, wherein each shipping time frame includes a shipping start time and a shipping end time; and 所述根据各运输终点位置和/或各个笼车的运输起始位置，确定各个笼车的运输优先级，包括：Said determining the transport priority of each cage car according to each transport terminal position and/or the transport start position of each cage car includes: 确定当前时刻与输出该笼车的格口的运输批次所对应的运输结束时刻之间的时长；Determine the length of time between the current moment and the end of transportation corresponding to the transportation batch outputting the grid of the cage car; 响应于所述时长小于预设时长，确定运输终点位置为月台的笼车的优先级大于运输终点位置为暂存区的笼车的优先级；确定运输终点位置为当前运输批次的格口的笼车的优先级大于运输终点位置为非当前运输批次的格口的笼车的优先级。In response to the duration being less than the preset duration, determine that the priority of the cage car whose transport terminal position is the platform is higher than the priority of the cage vehicle whose transport terminal position is the temporary storage area; determine that the transport terminal position is the grid of the current transport batch The priority of the cage car is higher than the priority of the cage car whose transportation terminal position is not the grid of the current transportation batch. 8.根据权利要求7所述的方法，其特征在于，所述根据各运输终点位置和/或各个笼车的运输起始位置，确定各个笼车的运输优先级，包括：8. The method according to claim 7, characterized in that, determining the transport priority of each cage car according to each transport end position and/or the transport start position of each cage car comprises: 响应于所述时长大于或等于预设时长，确定运输起始位置为格口的笼车的优先级大于运输起始位置为暂存区的笼车的优先级；确定运输终点位置为当前运输批次的格口的笼车的优先级大于运输终点位置为非当前运输批次的格口的笼车的优先级。In response to the duration being greater than or equal to the preset duration, determine that the priority of the cage car whose transportation start position is the grid is greater than the priority of the cage vehicle whose transportation start position is the temporary storage area; determine that the transportation end position is the current transportation batch The priority of the cage car in the next grid is higher than the priority of the cage car whose transport terminal position is not the current transport batch. 9.根据权利要求1所述的方法，其特征在于，所述根据各运输优先级、各自动导引运输车的状态信息和位置信息，调度各自动导引运输车运输各个笼车，包括：9. The method according to claim 1, wherein, according to each transportation priority, status information and location information of each automatic guided transportation vehicle, dispatching each automatic guided transportation vehicle to transport each cage car comprises: 确定各笼车的最大并发运输数量；Determine the maximum number of concurrent transports for each cage car; 根据各自动导引运输车的状态信息和位置信息、各笼车的运输起始位置和运输终点位置、各运输优先级以及所述最大并发运输数量，确定各自动导引运输车运输各笼车所需的各运输路径的最小运输距离；According to the state information and position information of each automatic guided transport vehicle, the transportation start position and transportation end position of each cage vehicle, each transportation priority and the maximum number of concurrent transportation, determine that each automatic guided transport vehicle transports each cage vehicle The minimum transport distance required for each transport route; 根据所述最小运输距离，调度各自动导引运输车运输各个笼车。According to the minimum transportation distance, each automatic guided transport vehicle is dispatched to transport each cage vehicle. 10.根据权利要求9所述的方法，其特征在于，所述无人分拣系统还包括空笼车存放区，所述空笼车存放区包括多列空笼车；以及10. The method according to claim 9, wherein the unmanned sorting system also includes an empty cage car storage area, and the empty cage car storage area includes multiple columns of empty cage cars; and 所述确定各笼车的最大并发运输数量，包括：The determination of the maximum concurrent transport quantity of each cage car includes: 根据各自动导引运输车到暂存区中各列笼车的概率、到当前运输批次的各格口的概率、到非当前运输批次的各格口的概率、到空笼车存放区各列笼车的概率，确定第一目标函数；According to the probability of each automatic guided transport vehicle arriving at each cage car in the temporary storage area, the probability of arriving at each slot of the current transport batch, the probability of arriving at each slot of a non-current transport batch, and the probability of arriving at the empty cage car storage area The probability of each cage car, determine the first objective function; 确定所述第一目标函数在以下至少一项约束条件下的最大值：每个空闲的自动导引运输车运输最多一个笼车、每个笼车分配最多一个自动导引运输车、每个空笼车分配到最多一个未存放笼车的格口、每个未存放笼车的格口分配最多一个空笼车、每个月台存储笼车的数量小于或等于第一预设值、暂存区中每列笼车的数量小于或等于第二预设值、暂存区和/或每个格口和/或每个月台处运出和运入笼车的数量相等、暂存区的每个笼车以及当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的月台、非当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的暂存区；Determine the maximum value of the first objective function under at least one of the following constraint conditions: each idle automatic guided transport vehicle transports at most one cage car, each cage car is assigned at most one automatic guided transport vehicle, each empty automatic guided transport vehicle The cage car is allocated to at most one slot that does not store the cage car, each slot that does not store the cage car is allocated at most one empty cage car, the number of cage cars stored on each platform is less than or equal to the first preset value, temporary storage The number of cage cars in each column in the zone is less than or equal to the second preset value, the number of cage cars in and out of the temporary storage area and/or each grid and/or each platform is equal, the number of cage cars in the temporary storage area Each cage car and each cage car at the slot of the current transport batch can only be transported to the platform corresponding to the transport destination of the cage car, and each cage car at the slot of the non-current transport batch can only be transported Transport to the temporary storage area corresponding to the transport destination of the cage car; 确定所述最大值为所述最大并发运输数量。The maximum value is determined as the maximum concurrent transport quantity. 11.根据权利要求9所述的方法，其特征在于，所述根据各自动导引运输车的状态信息和位置信息、各笼车的运输起始位置和运输终点位置、各运输优先级以及所述最大并发运输数量，确定各自动导引运输车运输各笼车所需的各运输路径的最小运输距离，包括：11. The method according to claim 9, characterized in that, according to the state information and position information of each automatic guided transport vehicle, the transport start position and transport end position of each cage car, each transport priority and the Determine the maximum number of concurrent transports mentioned above, and determine the minimum transport distance of each transport path required for each automatic guided transport vehicle to transport each cage car, including: 根据各自动导引运输车的位置信息、各笼车的运输起始位置和运输终点位置，确定各运输路径；According to the position information of each automatic guided transport vehicle, the transport start position and transport end position of each cage car, determine each transport route; 根据执行各运输路径的概率、各运输路径的距离以及各运输路径的优先级对应的权重，确定第二目标函数；Determine the second objective function according to the probability of executing each transport route, the distance of each transport route, and the weight corresponding to the priority of each transport route; 确定所述第二目标函数在以下至少一项约束条件下的最小值：每个空闲的自动导引运输车运输最多一个笼车、每个笼车分配最多一个自动导引运输车、每个空笼车分配到最多一个未存放笼车的格口、每个未存放笼车的格口分配最多一个空笼车、每个月台存储笼车的数量小于或等于第一预设值、暂存区中每列笼车的数量小于或等于第二预设值、暂存区和/或每个格口和/或每个月台处运出和运入笼车的数量相等、暂存区的每个笼车以及当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的月台、非当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的暂存区、自动导引运输车的数量大于或等于所述最大并发运输数量。Determine the minimum value of the second objective function under at least one of the following constraint conditions: each idle automatic guided transport vehicle transports at most one cage car, each cage car is assigned at most one automatic guided transport vehicle, each empty automatic guided transport vehicle The cage car is allocated to at most one slot that does not store the cage car, each slot that does not store the cage car is allocated at most one empty cage car, the number of cage cars stored on each platform is less than or equal to the first preset value, temporary storage The number of cage cars in each column in the zone is less than or equal to the second preset value, the number of cage cars in and out of the temporary storage area and/or each grid and/or each platform is equal, the number of cage cars in the temporary storage area Each cage car and each cage car at the slot of the current transport batch can only be transported to the platform corresponding to the transport destination of the cage car, and each cage car at the slot of the non-current transport batch can only be transported The number of the temporary storage area and the number of automatic guided transport vehicles transported to the transport destination corresponding to the cage car is greater than or equal to the maximum number of concurrent transport. 12.根据权利要求11所述的方法，其特征在于，所述根据所述最小运输距离，调度各自动导引运输车运输各个笼车，包括：12. The method according to claim 11, wherein, according to the minimum transportation distance, dispatching each automatic guided transport vehicle to transport each cage car comprises: 根据所述最小值对应的各概率的值，调度各自动导引运输车运输各笼车。According to the values of the probabilities corresponding to the minimum value, each automatic guided transport vehicle is dispatched to transport each cage vehicle. 13.一种用于调度无人分拣系统中自动导引运输车的装置，其特征在于，无人分拣系统包括分拣机、暂存区以及月台，所述分拣机包括多个输出包裹的格口，每个格口处放置有用于接收包裹的笼车，不同的格口具有不同的运输批次，各运输批次与预设的各运输时间范围一一对应，所述暂存区用于存储暂存的装满包裹的笼车，所述月台用于存放待发货的笼车，自动导引运输车用于在所述格口、所述暂存区以及所述月台之间运输笼车；13. A device for dispatching automatic guided transport vehicles in an unmanned sorting system, characterized in that the unmanned sorting system includes a sorter, a temporary storage area, and a platform, and the sorter includes a plurality of The slot for outputting parcels, each slot is placed with a cage car for receiving parcels, different slots have different transport batches, and each transport batch corresponds to the preset transport time range one by one, the temporary The storage area is used to store temporarily stored cage cars full of packages, the platform is used to store cage cars to be shipped, and the automatic guided transport vehicle is used Transport cage cars between platforms; 所述装置包括：The devices include: 第一获取单元，用于获取各个自动导引运输车的状态信息和位置信息；The first acquisition unit is used to acquire the state information and position information of each automatic guided transport vehicle; 第二获取单元，用于获取各个格口的运输批次；The second acquisition unit is used to acquire the transportation batches of each grid; 运输终点位置确定单元，用于根据各个格口的运输批次，确定各个笼车的运输终点位置；The transport terminal position determination unit is used to determine the transport terminal position of each cage car according to the transport batch of each grid; 运输优先级确定单元，用于根据各运输终点位置和/或各个笼车的运输起始位置，确定各个笼车的运输优先级；A transport priority determination unit, configured to determine the transport priority of each cage car according to the transport end position and/or the transport start position of each cage car; 调度单元，用于根据各运输优先级、各自动导引运输车的状态信息和位置信息，调度各自动导引运输车运输各个笼车。The dispatching unit is configured to dispatch each automatic guided transport vehicle to transport each cage car according to each transport priority, status information and location information of each automatic guided transport vehicle. 14.根据权利要求13所述的装置，其特征在于，所述运输终点位置确定单元包括：14. The device according to claim 13, characterized in that, the unit for determining the location of the transport terminal comprises: 检测模块，用于对于每个格口，检测该格口处是否存放有笼车；The detection module is used for detecting whether a cage car is stored at the grid opening for each grid opening; 第一确定模块，用于响应于该格口处存放有笼车，根据该格口的运输批次，确定该格口处的笼车的运输终点位置；The first determination module is used to determine the transportation terminal position of the cage car at the grid according to the transportation batch of the grid in response to the cage car being stored at the grid; 第二确定模块，用于响应于该格口处未存放笼车，根据该格口的运输批次，确定至少一个笼车的运输终点位置为该格口。The second determination module is configured to determine the transportation terminal position of at least one cage car as the bay according to the transportation batch of the bay in response to no cage car being stored at the bay. 15.根据权利要求13所述的装置，其特征在于，所述第一确定模块进一步用于：15. The device according to claim 13, wherein the first determination module is further used for: 响应于当前时刻位于该格口的运输批次所对应的运输时间范围内，确定该格口处的笼车的运输目的地及所述运输目的地对应的月台；检测所述月台上存放的笼车的当前数量是否等于第一预设值；In response to the transportation time range corresponding to the transportation batch located in the grid at the current moment, determine the transportation destination of the cage car at the grid and the platform corresponding to the transportation destination; detect the storage on the platform; Whether the current number of cage cars is equal to the first preset value; 响应于月台上存放的笼车的当前数量等于第一预设值，确定该格口处的笼车的运输终点位置为暂存区。In response to the fact that the current quantity of cage cars stored on the platform is equal to the first preset value, it is determined that the transport terminal position of the cage cars at the bay is the temporary storage area. 16.根据权利要求15所述的装置，其特征在于，所述第一确定模块进一步用于：16. The device according to claim 15, wherein the first determination module is further used for: 响应于月台上存放的笼车的当前数量小于第一预设值，确定该格口处的笼车的运输终点位置为所述月台。In response to the current quantity of cage cars stored on the platform being less than a first preset value, it is determined that the terminal position of the cage cars at the bay is the platform. 17.根据权利要求14所述的装置，其特征在于，所述第一确定模块进一步用于：17. The device according to claim 14, wherein the first determination module is further used for: 响应于当前时刻在该格口的运输批次所对应的运输时间范围之外，确定该格口处的笼车的运输终点位置为暂存区。In response to the fact that the current moment is outside the transport time range corresponding to the transport batch of the grid, determine the transport terminal position of the cage car at the grid as the temporary storage area. 18.根据权利要求15-17任一项所述的装置，其特征在于，所述第一确定模块进一步用于：18. The device according to any one of claims 15-17, wherein the first determination module is further configured to: 对于运输终点位置为暂存区的每一个笼车，检测暂存区中是否存在至少一列笼车的目的地与该笼车的目的地相同；For each cage car whose transportation terminal position is the temporary storage area, detect whether there is at least one cage car in the temporary storage area whose destination is the same as the destination of the cage car; 响应于暂存区中存在至少一列笼车的目的地与该笼车的目的地相同，检测目的地相同的各列是否已存满；In response to the fact that there is at least one row of cage cars with the same destination as the destination of the cage car in the temporary storage area, it is detected whether each row with the same destination is full; 响应于目的地相同的至少一列笼车未存满，将该笼车存放在与该笼车同一运输批次的一列笼车中；In response to at least one train of cage cars with the same destination being not full, storing the cage car in a train of cage cars of the same transport batch as the cage car; 响应于目的地相同的各列都存满，将该笼车存放在新的一列。In response to each column with the same destination being full, the cage car is deposited in a new column. 19.根据权利要求13所述的装置，其特征在于，每个运输时间范围包括运输起始时刻和运输结束时刻；以及19. The apparatus of claim 13, wherein each shipping time range includes a shipping start time and a shipping end time; and 所述运输优先级确定单元包括：The transport priority determination unit includes: 时长确定模块，用于确定当前时刻与输出该笼车的格口的运输批次所对应的运输结束时刻之间的时长；The duration determination module is used to determine the duration between the current moment and the transportation end time corresponding to the transportation batch outputting the grid of the cage car; 第一运输优先级确定模块，用于响应于所述时长小于预设时长，确定运输终点位置为月台的笼车的优先级大于运输终点位置为暂存区的笼车的优先级；确定运输终点位置为当前运输批次的格口的笼车的优先级大于运输终点位置为非当前运输批次的格口的笼车的优先级。The first transport priority determination module is used to determine that the priority of the cage car whose transport terminal position is the platform is greater than the priority of the cage car whose transport terminal position is the temporary storage area in response to the time length being less than the preset time length; determine the transport The priority of the cage car whose terminal position is the slot of the current transport batch is higher than the priority of the cage car whose transport terminal position is not the slot of the current transport batch. 20.根据权利要求19所述的装置，其特征在于，所述运输优先级确定单元包括：20. The device according to claim 19, wherein the transport priority determining unit comprises: 第二运输优先级确定模块，用于响应于所述时长大于或等于预设时长，确定运输起始位置为格口的笼车的优先级大于运输起始位置为暂存区的笼车的优先级；确定运输终点位置为当前运输批次的格口的笼车的优先级大于运输终点位置为非当前运输批次的格口的笼车的优先级。The second transportation priority determination module is used to determine that the priority of the cage car whose transportation starting position is the grid is greater than the priority of the cage car whose transportation starting position is the temporary storage area in response to the duration being greater than or equal to the preset duration level; determine that the priority of the cage car whose transportation terminal position is the grid slot of the current transport batch is higher than that of the cage vehicle whose transport terminal position is not the current transport batch grid slot. 21.根据权利要求13所述的装置，其特征在于，所述调度单元包括：21. The device according to claim 13, wherein the scheduling unit comprises: 最大并发运输数量确定模块，用于确定各笼车的最大并发运输数量；The maximum concurrent transport quantity determination module is used to determine the maximum concurrent transport quantity of each cage car; 最小运输距离确定模块，用于根据各自动导引运输车的状态信息和位置信息、各笼车的运输起始位置和运输终点位置、各运输优先级以及所述最大并发运输数量，确定各自动导引运输车运输各笼车所需的各运输路径的最小运输距离；The minimum transportation distance determination module is used to determine the automatic guided transportation vehicles according to the state information and position information of each automatic guided transportation vehicle, the transportation starting position and transportation terminal location of each cage car, each transportation priority and the maximum number of concurrent transportation, and determine each automatic guided transportation vehicle. The minimum transport distance of each transport path required to guide the transport vehicle to transport each cage car; 调度模块，用于根据所述最小运输距离，调度各自动导引运输车运输各个笼车。The scheduling module is configured to schedule each automatic guided transport vehicle to transport each cage car according to the minimum transport distance. 22.根据权利要求21所述的装置，其特征在于，所述无人分拣系统还包括空笼车存放区，所述空笼车存放区包括多列空笼车；以及22. The device according to claim 21, wherein the unmanned sorting system also includes an empty cage car storage area, and the empty cage car storage area includes multiple rows of empty cage cars; and 所述最大并发运输数量确定模块进一步用于：The maximum concurrent transport quantity determination module is further used for: 根据各自动导引运输车到暂存区中各列笼车的概率、到当前运输批次的各格口的概率、到非当前运输批次的各格口的概率、到空笼车存放区各列笼车的概率，确定第一目标函数；According to the probability of each automatic guided transport vehicle arriving at each cage car in the temporary storage area, the probability of arriving at each slot of the current transport batch, the probability of arriving at each slot of a non-current transport batch, and the probability of arriving at the empty cage car storage area The probability of each cage car, determine the first objective function; 确定所述第一目标函数在以下至少一项约束条件下的最大值：每个空闲的自动导引运输车运输最多一个笼车、每个笼车分配最多一个自动导引运输车、每个空笼车分配到最多一个未存放笼车的格口、每个未存放笼车的格口分配最多一个空笼车、每个月台存储笼车的数量小于或等于第一预设值、暂存区中每列笼车的数量小于或等于第二预设值、暂存区和/或每个格口和/或每个月台处运出和运入笼车的数量相等、暂存区的每个笼车以及当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的月台、非当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的暂存区；Determine the maximum value of the first objective function under at least one of the following constraint conditions: each idle automatic guided transport vehicle transports at most one cage car, each cage car is assigned at most one automatic guided transport vehicle, each empty automatic guided transport vehicle The cage car is allocated to at most one slot that does not store the cage car, each slot that does not store the cage car is allocated at most one empty cage car, the number of cage cars stored on each platform is less than or equal to the first preset value, temporary storage The number of cage cars in each column in the zone is less than or equal to the second preset value, the number of cage cars in and out of the temporary storage area and/or each grid and/or each platform is equal, the number of cage cars in the temporary storage area Each cage car and each cage car at the slot of the current transport batch can only be transported to the platform corresponding to the transport destination of the cage car, and each cage car at the slot of the non-current transport batch can only be transported Transport to the temporary storage area corresponding to the transport destination of the cage car; 确定所述最大值为所述最大并发运输数量。The maximum value is determined as the maximum concurrent transport quantity. 23.根据权利要求21所述的装置，其特征在于，所述最小运输距离确定模块进一步用于：23. The device according to claim 21, wherein the minimum transport distance determining module is further used for: 根据各自动导引运输车的位置信息、各笼车的运输起始位置和运输终点位置，确定各运输路径；According to the position information of each automatic guided transport vehicle, the transport start position and transport end position of each cage car, determine each transport route; 根据执行各运输路径的概率、各运输路径的距离以及各运输路径的优先级对应的权重，确定第二目标函数；Determine the second objective function according to the probability of executing each transport route, the distance of each transport route, and the weight corresponding to the priority of each transport route; 确定所述第二目标函数在以下至少一项约束条件下的最小值：每个空闲的自动导引运输车运输最多一个笼车、每个笼车分配最多一个自动导引运输车、每个空笼车分配到最多一个未存放笼车的格口、每个未存放笼车的格口分配最多一个空笼车、每个月台存储笼车的数量小于或等于第一预设值、暂存区中每列笼车的数量小于或等于第二预设值、暂存区和/或每个格口和/或每个月台处运出和运入笼车的数量相等、暂存区的每个笼车以及当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的月台、非当前运输批次的格口处的每个笼车只能运输至该笼车的运输目的地对应的暂存区、自动导引运输车的数量大于或等于所述最大并发运输数量。Determine the minimum value of the second objective function under at least one of the following constraint conditions: each idle automatic guided transport vehicle transports at most one cage car, each cage car is assigned at most one automatic guided transport vehicle, each empty automatic guided transport vehicle The cage car is allocated to at most one slot that does not store the cage car, each slot that does not store the cage car is allocated at most one empty cage car, the number of cage cars stored on each platform is less than or equal to the first preset value, temporary storage The number of cage cars in each column in the zone is less than or equal to the second preset value, the number of cage cars in and out of the temporary storage area and/or each grid and/or each platform is equal, the number of cage cars in the temporary storage area Each cage car and each cage car at the slot of the current transport batch can only be transported to the platform corresponding to the transport destination of the cage car, and each cage car at the slot of the non-current transport batch can only be transported The number of the temporary storage area and the number of automatic guided transport vehicles transported to the transport destination corresponding to the cage car is greater than or equal to the maximum number of concurrent transport. 24.根据权利要求23所述的装置，其特征在于，所述调度模块进一步用于：24. The device according to claim 23, wherein the scheduling module is further used for: 根据所述最小值对应的各概率的值，调度各自动导引运输车运输各笼车。According to the values of the probabilities corresponding to the minimum value, each automatic guided transport vehicle is dispatched to transport each cage vehicle. 25.一种服务器，其特征在于，包括：25. A server, characterized in that it comprises: 一个或多个处理器；one or more processors; 存储装置，用于存储一个或多个程序，storage means for storing one or more programs, 当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-12中任一所述的方法。When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the method according to any one of claims 1-12. 26.一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-12中任一所述的方法。26. A computer-readable storage medium, on which a computer program is stored, wherein, when the program is executed by a processor, the method according to any one of claims 1-12 is realized.
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