CN-121212972-B - Task scheduling method and system for tunnel stacker

CN121212972BCN 121212972 BCN121212972 BCN 121212972BCN-121212972-B

Abstract

The invention relates to the technical field of task scheduling of a tunnel stacker, in particular to a task scheduling method and a task scheduling system of the tunnel stacker, wherein the method comprises the following steps of registering public resources; the method comprises the steps of distributing tasks for a stacker, estimating a time period of the stacker occupying the public resources if a task execution path needs to pass through the public resources, applying a time token of the public resources to a coordination module, dynamically distributing the time token, adjusting the running speed of the stacker if the stacker obtains the time token, judging whether the stacker cannot use the obtained time token on time, immediately recovering the obtained time token of the stacker if the stacker cannot use the obtained time token on time, planning a getting rid of the problem path for the stacker, distributing the unfinished high-priority tasks of the stacker to other stackers, and reassigning the released time token to other stackers with highest priority and capable of being used on time in a waiting queue. The utilization rate of the public resources is optimized.

Inventors

ZHANG KUNMING
ZHOU JUNHUI
WANG MENG

Assignees

江西盛昆智能装备有限公司

Dates

Publication Date: 20260508
Application Date: 20250927

Claims (9)

1. The task scheduling method for the tunnel stacker is characterized by comprising the following steps of: Registering a public resource and managing state information of the public resource; distributing tasks for the stacker, calculating a task execution path of the stacker according to the tasks, estimating a time period of the stacker occupying the common resources if the task execution path needs to pass through the common resources, and applying a time token of the common resources to the coordination module; The coordination module dynamically allocates a time token according to the task priority of the stacker, the availability of public resources, the estimated arrival time of the stacker and the overall system load, and if the stacker obtains the time token, the operation speed of the stacker is adjusted according to the time designated by the time token; continuously monitoring the running state of the stacker and the environment conditions of a main tunnel and a temporary operation tunnel of the stacker, and judging whether the stacker cannot use the obtained time token on time according to the running state and the environment conditions; If the stacker cannot use the obtained time tokens on time, immediately recovering the obtained time tokens of the stacker and releasing the time tokens to a public resource pool; planning a getting-out path for the stacker according to the task priority of the stacker, and reapplying a time token for public resources required by the way of the getting-out path; Shunting unfinished high-priority tasks of the stacker to other stackers, and applying a time token for the shunted tasks; Reassigning the released time tokens to other stackers with highest priority in the waiting queue and capable of being used on time; The step of reassigning the released time tokens to other stackers with highest priority and available on time in the waiting queue comprises: selecting a stacker which has the highest priority and can arrive in the available time window of the released time token from the waiting queue as a preliminary candidate stacker; Transmitting a pre-allocation token notification to the preliminary candidate stacker, wherein the pre-allocation token notification comprises a public resource ID of a released time token, an available time window and a confirmation response expiration time; after receiving the pre-allocation token notification, the preliminary candidate stacker on-board controller executes self-state self-checking, wherein the self-state self-checking comprises checking the battery electric quantity, the health state of a driving system and the latest precision report of the on-board positioning system; The preliminary candidate stacker on-board controller previews a path from the current position to the public resource and continues to execute subsequent tasks based on the self-checking result of the state of the preliminary candidate stacker on-board controller; in the path previewing process, the preliminary candidate stacker on-board controller sends a query request to the path necessary resource of the subsequent task of the preliminary candidate stacker to acquire the real-time availability of the path necessary resource; the on-board controller of the preliminary candidate stacker calculates the estimated time of the preliminary candidate stacker reaching the pre-allocated public resource according to the path previewing result, and evaluates whether the preliminary candidate stacker can reach in the available time window of the released time token; the on-board controller of the preliminary candidate stacker evaluates the success rate of time token application on the path of the subsequent task of the preliminary candidate stacker in combination with the real-time availability of the necessary resources of the path; The preliminary candidate stacker on-board controller generates a response according to the evaluation result, wherein the response comprises a time token receiving response or a time token rejecting response; The coordination module receives the response of the preliminary candidate stacker; the coordination module waits for the responses of all the preliminary candidate stackers before confirming the response deadline; if the coordination module receives the response of the receiving time token and does not receive the response of other conflicting receiving time tokens before the expiration time of the confirmation response, the coordination module finally distributes the time tokens to the preliminary candidate stacker; And if all the preliminary candidate stackers reject the time token response or do not receive any time token response before the confirmation expiration time, re-releasing the time token back to the public resource pool, selecting the next stacker with the highest priority from the waiting queue, and repeating the pre-allocation and response flow.
2. The method for task scheduling of a tunnel stacker according to claim 1, wherein the step of acquiring the availability of the common resource and the estimated arrival time of the stacker comprises: Fusing data of a wheel encoder, an inertial measurement unit and a positioning beacon in a roadway of the stacker to obtain the position and the speed of the stacker; The on-board controller of the stacker sends an occupation state query request to the public resource controller to acquire the physical occupation state of the public resource; The stacker on-board controller predicts the availability of the public resources by combining the physical occupation state of the public resources, the average processing time of the public resources and the real-time monitoring of the sensors at the entrance of the public resources; According to the position and the speed of the stacker, calculating the estimated arrival time of the stacker according to the distance from the stacker to the public resource entrance; the stacker on-board controller communicates with the coordination module to report the expected arrival time of the stacker and the availability of common resources.
3. The method of task scheduling for a tunnel stacker according to claim 2 wherein the step of calculating the estimated arrival time of the stacker comprises: The coordination module receives real-time position and real-time speed data provided by the stacker on-board positioning system; the coordination module carries out real-time filtering processing on the real-time position and real-time speed data to obtain the position and speed of the stacker; obtaining the distance from the stacker to the public resource entrance according to the position of the stacker, a prestored warehouse map and roadway topology information; the coordination module calculates the estimated arrival time of the stacker by using a path tracking algorithm and a kinematic model according to the position and the speed of the stacker and combining the distance from the stacker to a public resource entrance.
4. The method for task scheduling of a tunnel stacker according to claim 3, wherein the step of performing real-time filtering processing on the real-time position and real-time speed data by the coordination module to obtain the position and the speed of the stacker includes: The coordination module selects a filtering algorithm to filter the real-time position and real-time speed data to obtain a filtered position and speed estimated value, wherein the filtered position and speed estimated value is the position and speed of the stacker.
5. A method of task scheduling for a tunnel stacker according to claim 3 wherein the step of deriving the distance of the stacker from the common resource entrance based on the location of the stacker, the pre-stored warehouse map and the tunnel topology information comprises: Obtaining the stacker according to the position of the stacker, a prestored warehouse map and roadway topology information, and calculating an optimal path from the stacker to a public resource inlet by using a path planning algorithm; And obtaining the distance from the stacker to the public resource entrance according to the optimal path from the stacker to the public resource entrance.
6. The method of task scheduling for a tunnel stacker according to claim 1, wherein the step of diverting the unfinished high priority task of the stacker to other stackers comprises: Continuously monitoring the available state of the stacker, wherein the available state comprises battery power, equipment health state and environmental condition of a roadway where the stacker is located; According to the task priority and the task type of the stacker, a plurality of stackers capable of taking over tasks are primarily screened out; For each preliminarily screened stacker, evaluating the current available capacity and task load of the stacker based on the latest available state of the stacker, and predicting potential risks which can occur during the execution of a new task; according to the predicted potential risk, adjusting the candidate priority of the stacker or removing the stacker; Before the successor stacker starts to execute the task, a usable state inquiry request is sent again, and the environmental condition of the tunnel where the successor stacker is located is monitored again; and if the change of the available state of the successor stacker is detected by the secondary monitoring, the task allocation is canceled, and the task diversion flow is restarted.
7. The method of task scheduling for a tunnel stacker according to claim 1, wherein the step of determining whether the stacker cannot use the obtained time token on time comprises: Collecting operation data of a stacker and environmental data of a roadway where the stacker is located; analyzing the performance trend of the stacker according to the operation data of the stacker; analyzing the change trend of the tunnel environment according to the environment data of the tunnel where the stacker is located; Matching the performance trend of the stacker, the variation trend of the roadway environment and the information of the time tokens acquired by the stacker, and judging whether the stacker cannot use the acquired time tokens on time; if the stacker is judged to be unable to use the obtained time token on time, triggering early warning; starting an intervention flow, wherein the intervention flow comprises sending an instruction to a stacker or sending a time token adjustment request to a coordination module; If the intervening stacker still cannot use the obtained time tokens on time, immediately recycling the obtained time tokens of the stacker and releasing the time tokens to a public resource pool.
8. The task scheduling method for the tunnel stacker of claim 1, further comprising the steps of: The coordination module sends an instruction to a stacker for obtaining the time token, wherein the instruction comprises the time designated by the time token; And the stacker adjusts the operation speed of the stacker according to the time designated by the time token.
9. A task scheduling system for a tunnel stacker, which is applied to a task scheduling method for a tunnel stacker as in claim 1, and is characterized in that the system comprises: The management module is used for registering the public resources and managing the state information of the public resources; The planning module is used for distributing tasks for the stacker, calculating a task execution path of the stacker according to the tasks, estimating a time period of the stacker occupying the public resources if the task execution path needs to pass through the public resources, and applying a time token of the public resources to the coordination module; The coordination module dynamically allocates a time token according to the task priority of the stacker, the availability of public resources, the estimated arrival time of the stacker and the overall system load, and adjusts the running speed of the stacker according to the time appointed by the time token if the time token is obtained by the stacker; The monitoring module is used for continuously monitoring the running state of the stacker and the environment conditions of a main tunnel and a temporary operation tunnel of the stacker, and judging whether the stacker cannot use the obtained time token on time according to the running state and the environment conditions; The release module is used for immediately recovering the obtained time token of the stacker and releasing the time token to the public resource pool if the stacker cannot use the obtained time token on time; The getting rid of the module, according to the task priority of the stacker, plan the getting rid of the route for the stacker, and apply for the time token again for the public resource that the route needs getting rid of the route; The diversion module diverts unfinished high-priority tasks of the stacker to other stackers and applies time tokens for the diverting tasks; And the distribution module is used for re-distributing the released time tokens to other stackers with highest priority and time-based use in the waiting queue.

Description

Task scheduling method and system for tunnel stacker Technical Field The invention relates to the technical field of task scheduling of a tunnel stacker, in particular to a task scheduling method and system of the tunnel stacker. Background In modern automated stereoscopic warehouses, lane stackers are key devices for achieving efficient storage and handling of goods. To cope with increasing business demands and to improve operational efficiency, warehouses are often deployed with multiple stackers, and increasingly introduce more flexible modes of operation, such as allowing the stackers to perform cross-zone operations between different roadways. However, this complex operating environment also presents unprecedented scheduling challenges, especially in the presence of limited public resources and unpredictable incidents, how to ensure efficient and stable task completion for the stacker is a challenge to be solved. Disclosure of Invention The invention aims to provide a task scheduling method and system for a tunnel stacker, aiming at the defects. The invention adopts the following technical scheme: a task scheduling method of a tunnel stacker comprises the following steps: Registering a public resource and managing state information of the public resource; distributing tasks for the stacker, calculating a task execution path of the stacker according to the tasks, estimating a time period of the stacker occupying the common resources if the task execution path needs to pass through the common resources, and applying a time token of the common resources to the coordination module; The coordination module dynamically allocates a time token according to the task priority of the stacker, the availability of public resources, the estimated arrival time of the stacker and the overall system load, and if the stacker obtains the time token, the operation speed of the stacker is adjusted according to the time designated by the time token; continuously monitoring the running state of the stacker and the environment conditions of a main tunnel and a temporary operation tunnel of the stacker, and judging whether the stacker cannot use the obtained time token on time according to the running state and the environment conditions; If the stacker cannot use the obtained time tokens on time, immediately recovering the obtained time tokens of the stacker and releasing the time tokens to a public resource pool; planning a getting-out path for the stacker according to the task priority of the stacker, and reapplying a time token for public resources required by the way of the getting-out path; Shunting unfinished high-priority tasks of the stacker to other stackers, and applying a time token for the shunted tasks; and reassigning the released time tokens to other stackers which have the highest priority in the waiting queue and can be used on time. According to the technical scheme, the intelligent and dynamic task scheduling method for the tunnel stacker provided by the application can effectively cope with complex and changeable warehouse operation environments, especially when the stacker encounters an emergency and cannot use public resources on time, can respond rapidly, and can furthest reduce the influence on the overall system efficiency, ensure the timely completion of the high-priority tasks and optimize the utilization rate of the public resources by a series of measures such as recovering time tokens, planning escape paths, shunting high-priority tasks, reallocating the time tokens and the like. Further, the step of obtaining the availability of the common resource and the estimated arrival time of the stacker includes: Fusing data of a wheel encoder, an inertial measurement unit and a positioning beacon in a roadway of the stacker to obtain the position and the speed of the stacker; The on-board controller of the stacker sends an occupation state query request to the public resource controller to acquire the physical occupation state of the public resource; The stacker on-board controller predicts the availability of the public resources by combining the physical occupation state of the public resources, the average processing time of the public resources and the real-time monitoring of the sensors at the entrance of the public resources; According to the position and the speed of the stacker, calculating the estimated arrival time of the stacker according to the distance from the stacker to the public resource entrance; the stacker on-board controller communicates with the coordination module to report the expected arrival time of the stacker and the availability of common resources. Further, the step of calculating the estimated arrival time of the stacker includes: The coordination module receives real-time position and real-time speed data provided by the stacker on-board positioning system; the coordination module carries out real-time filtering processing on the real-time position and real-time speed data