CN-116651760-B - Intelligent seeding wall circulating railcar scheduling method

CN116651760BCN 116651760 BCN116651760 BCN 116651760BCN-116651760-B

Abstract

The invention provides an intelligent seeding wall circulating railcar dispatching method, and provides a task dispatching system and method for a plurality of circulating railcars in intensive layout, so as to achieve the design purpose of improving the high timeliness guarantee of vehicle distribution package and system throughput. The method comprises the following steps of 1) generating sorting tasks, 2) planning and walking paths, 3) delivering packages, 4) returning to a package supply platform, 5) enabling a railway vehicle to reach a specified package supply platform, and ending the current circulation operation.

Inventors

SUN YUAN
MAO JING
YANG LIU
ZHANG NIANKAI

Assignees

科捷智能科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230522

Claims (5)

1. An intelligent seeding wall circulating railcar dispatching method is characterized in that vehicles are dynamically dispatched and sorting tasks are bound according to flow calculation of tracks where different packet supply platforms are located; comprises the following implementation steps of the method, 1) Generating sort tasks Generating a sorting task for goods transportation at a package supply station; the rail car in the idle state moves to the position of the packet supply platform according to the scheduling instruction, the goods are transmitted to the rail car, and meanwhile, the sorting task is bound with the rail car; 2) Path planning and walking Calculating the shortest path of the running of the rail vehicle by adopting an A-point routing algorithm according to the position of the destination grid, wherein the shortest path is a coordinate set { p 1 ,p 2 …p n },p n is a coordinate point on a running track and is marked as p n (x, y); generating a running route according to the current position of the railway vehicle and the calculated shortest path, and calculating a safe running area in real time; for each railcar, after generating a running route bound by a sorting task, searching the position of the farthest coordinate point which is not occupied by other vehicles from the starting point to serve as the current safe running area; After the safety driving area is occupied, the rail vehicle runs to the position of the farthest coordinate point of the current safety driving area, and the rail vehicle waits for parking, calculates and applies for the next section of safety driving area; Constructing a plurality of continuous rectangular safety spaces for the railway vehicle in the safety driving area; Each discrete point on the safe driving area is converted into a rectangular space according to the size data of the railway vehicle, and when the railway vehicle is positioned at a point p n (x, y), a safe space S V ,S V = Rect{p a, p b, p c, p d is built by taking p n as the center; Wherein ,p a = (x-L/2,y-w/2), p b = (x-L/2,y+w/2) , p c = (x+L/2,y-w/2) , p d = (x+L/2,y+w/2), the length value of the railcar is L, and the width value of the railcar is w; The above-mentioned safety space S V is provided only for the rail car occupancy at the point p v (x, y); 3) Delivery package Executing an operation instruction of each section of safe driving area by the rail car until the rail car walks to the position of a sorting grid opening designated by a sorting task, delivering the goods package, and finishing the sorting task; 4) Return bag supply table The rail car which completes the current sorting task continuously runs according to the calculated safe running area; When the vehicle runs to the split point p s of the plurality of adjacent packet supply stations { S 1 ,S 2 ,…,S n }, calculating the distribution priority for selecting the packet supply stations according to the number of vehicles in the buffer areas of different packet supply stations, and distributing the specified packet supply stations for the current railway vehicle; 5) The rail car reaches the appointed packet supply platform, and the current circulation operation is finished.
2. The intelligent seeding wall circulating railcar scheduling method of claim 1, wherein the railcar is on an operation route, and the railcar with high priority can be occupied preferentially by carrying out priority calculation when the request occupies the confluence intersection; The calculation formula of the priority P v is P v =t w -t, wherein t is the time from the current position of the rail car to the junction intersection P x , and t w is the waiting time for starting to apply for occupying the junction intersection P x ; When the routes of two rail vehicles are covered simultaneously and enter the confluence intersection P x from different directions, the front-back sequence of the application occupying the confluence intersection P x is determined according to the calculation result of the priorities P v, of the two vehicles; When the current speed v 0 =v max, of the railcar, then t=s/v 0 ; When v 0 !=v max , i.e. the vehicle is in an acceleration phase and the vehicle has reached p x the speed just adds to v and v < = v max , then t= (v-v 0 )/a; When v 0 !=v max , i.e. the vehicle is in an acceleration phase and the maximum speed has been reached before the vehicle reaches p x , the acceleration time t a =(v max -v 0 )/a, the acceleration distance s a = (v max +v 0 )/2×t a , t = t a +(s-s a )/v max .
3. The intelligent seeding wall circulating rail car scheduling method of claim 2, wherein the rail car can apply for occupying the confluence intersection when the distance between the current rail car and the intersection is smaller than the maximum speed braking distance of the vehicle.
4. The method for dispatching the intelligent seeding wall circulating railcar according to claim 3, wherein in the step 4), when the safe running area of the railcar covers the split point p s of the packet supply platform, calculating the distribution priority and designating the packet supply platform for subsequent running in; The calculation formula for the allocation priority is as follows: P s = s×w s +(A-a)/A×w a +(B-b)/B×w b -（1-d/D）×w d Wherein w s ,w a ,w b is constant for all packet supply stations, W d is the distance value of different bag supplying platforms from the split point p s , and the closer the bag supplying platforms are to the split point p s , the smaller the value of w d is; in the above formula, if the packet supply station is currently occupied, the judgment result is s, s=0 indicates occupied, and s=1 indicates idle; the maximum capacity allowed to stop the vehicle in the completed packet supplying buffer area of the current packet supplying platform is marked as A; the number of vehicles actually parked in the finished packet buffer area of the current packet supply platform is recorded as a; The maximum capacity allowed to stop the vehicle in the to-be-supplied packet buffer area of the current packet supply platform is marked as B; the number of vehicles actually parked in a to-be-fed packet cache area of the current packet feeding table is recorded as b; the position distance between the shunt point of the packet supply platform and the end point of the horizontal lower lane is marked as D; the position distance between the railway vehicle of the current to-be-allocated packet supply platform and the vehicle of the previous packet supply platform, which is allocated and positioned at the end point of the horizontal lower lane, is recorded as D; the supply station with the higher allocation priority is allocated to the current railcar.
5. The method for dispatching the intelligent seeding wall circulating railcar according to claim 4, wherein for the same railcar, when the calculation results of the distribution priorities of different packet supply stations are the same, the packet supply stations far from the splitting point are distributed with priority.

Description

Intelligent seeding wall circulating railcar scheduling method Technical Field The invention relates to a task scheduling method for a circulating railcar running on an intelligent seeding wall, and belongs to the field of logistics storage. Background At present, in the field of logistics storage, an automation and intelligent control technology is rapidly developed, and with continuous rise of industrial and commercial land and labor cost, an intensive storage system is widely used because of the capability of fully utilizing space efficiency and correspondingly reducing personnel and labor demands. The intelligent seeding wall can obviously reduce the occupied area of the whole equipment by three-dimensionally sorting the grid openings and conveying sorting packages by using the circulating railcar, and can effectively ensure the sorting category quantity and the operation efficiency. The intelligent seeding wall in the prior art is used for conveying sorting packages based on circulating rail cars, and whether the vehicles can reach a package supply platform quickly is a key element of sorting efficiency, so that a plurality of rail cars and a relatively compact layout scheduling means are required to be configured. The existing vehicle task scheduling systems such as the rail shuttle and the automatic guided transport vehicle only aim at reducing the path conflict when different vehicles run, the existing rail vehicle scheduling system only takes effect when receiving the tasks issued by the upper system, and vehicles at other moments wait in situ in an idle state, so that the system is not suitable for overall scheduling and management of densely arranged vehicles in a sowing wall, and the timeliness of vehicle running cannot be guaranteed. In view of this, the present application has been made. Disclosure of Invention The application provides an intelligent seeding wall circulating railcar dispatching method, which aims to solve the problems in the prior art and provides a task dispatching system and method for a plurality of circulating railcars with dense layout, thereby realizing the design aims of improving the high timeliness guarantee and the system throughput of the vehicle distribution package. In order to achieve the aim of the invention, the intelligent seeding wall circulation railcar scheduling method dynamically schedules vehicles and binds sorting tasks according to flow calculation of the rails where different packet supply stations are located, and comprises the following implementation steps: 1) Generating sort tasks Generating a sorting task for goods transportation at a package supply station; the rail car in the idle state moves to the position of the packet supply platform according to the scheduling instruction, the goods are transmitted to the rail car, and meanwhile, the sorting task is bound with the rail car; 2) Path planning and walking Calculating the shortest path of the running of the rail vehicle by adopting an A-point routing algorithm according to the position of the destination grid, wherein the shortest path is a coordinate set { p 1,p2…pn},pn is a coordinate point on a running track and is marked as p n (x, y); generating a running route according to the current position of the railway vehicle and the calculated shortest path, and calculating a safe running area in real time; for each railcar, after generating a running route bound by a sorting task, searching the position of the farthest coordinate point which is not occupied by other vehicles from the starting point to serve as the current safe running area; After the safety driving area is occupied, the rail vehicle runs to the position of the farthest coordinate point of the current safety driving area, and the rail vehicle waits for parking, calculates and applies for the next section of safety driving area; 3) Delivery package Executing an operation instruction of each section of safe driving area by the rail car until the rail car walks to the position of a sorting grid opening designated by a sorting task, delivering the goods package, and finishing the sorting task; 4) Return bag supply table The rail car which completes the current sorting task continuously runs according to the calculated safe running area; When the vehicle runs to the split point p s of the plurality of adjacent packet supply stations { S 1,S2,…,Sn }, calculating the distribution priority for selecting the packet supply stations according to the number of vehicles in the buffer areas of different packet supply stations, and distributing the specified packet supply stations for the current railway vehicle; 5) The rail car reaches the appointed packet supply platform, and the current circulation operation is finished. Further, in the path planning and traveling process in the step 2), a plurality of continuous rectangular safety spaces are built for the rail car in the safety traveling area, each discrete point on the safety traveling are