Intelligent warehouse control system and control method based on digital twinning

Abstract

The invention provides an intelligent warehouse control system based on digital twinning, which comprises a scene model cargo module and an intelligent warehouse WCS system, the scene model cargo module is built under a Unity 3D engine, the intelligent warehouse WCS system comprises a server, a WCS control system and a 3D visualization system, the server is provided with a data acquisition interface information interaction module, and the WCS control system is connected with the 3D visualization system. The WCS control system is provided with a data acquisition module. The 3D visualization system is provided with a scene model cargo module, a model control script module, a visual angle lens control module and an information display module. Based on the digital twinning technology, the 3D visualization technology and the data service technology system, a data channel is connected in a three-in-one combination mode, 3D and visualization of the intelligent warehouse operation process are achieved, the intelligent warehouse operation condition, the cargo logistics process, the equipment abnormal condition, the tray cargo information and intelligent warehouse operation data can be checked in real time, and the intelligent warehouse operation data can be displayed in real time. The goods storage and taking-out conditions of the warehouse and the operation state of the whole logistics system can be monitored in real time.

Description

Technical Field

[0001] The present invention relates to the field of smart warehouse technology, and in particular to a smart warehouse control system and control method based on digital twins. Background Art

[0002] WCS warehouse control system is mainly used in automated warehouses and is an important part of automated warehouses. It obtains work tasks from WMS (warehouse management system) and issues detailed operation instructions to automated equipment. The smart factory visualization decision-making platform supports the integration of industrial big data, Internet of Things, artificial intelligence and other information technologies, integrates the data resources of the existing information system of the factory, realizes equipment operation and maintenance monitoring, intelligent pipe network monitoring, comprehensive security monitoring, convenient passage monitoring, energy efficiency management monitoring, production management monitoring, warehousing and logistics monitoring, effectively improves the comprehensive supervision ability of the factory and reduces the operating costs of the enterprise factory.

[0003] The WCS warehouse control system in the existing technology is not mature enough, and cannot achieve high-level simulation of the opposite warehouse scene and real-time monitoring of the opposite warehouse equipment status, and the supervision efficiency is insufficient. Summary of the invention

[0004] The purpose of the present invention is to provide a smart warehouse control system and control method based on digital twins.

[0005] In order to achieve the above object, the technical solution of the present invention is: The smart warehouse control system based on digital twin is characterized by comprising a scene model cargo module and a smart warehouse WCS system. The scene model cargo module is built under the Unity 3D engine. The smart warehouse WCS system comprises a server, a WCS control system and a 3D visualization system. The server is provided with a data acquisition interface information interaction module. The WCS control system is provided with a data acquisition module. The 3D visualization system is provided with a scene model cargo module, a model control script module, a viewing angle lens control module and an information display module. The scenario model cargo module includes a shelf static model building module, a stacker static model building module, a conveyor line static model building module, a pallet static model building module and a cargo static model building module. The data collection module includes a smart warehouse inventory data collection module, a pallet cargo information collection module, a host data information collection module, a fault data information collection module, an abnormal record data information collection module and a task information information collection module. The script control module includes an initial loading script, a stacker control script, a stacker fork arm control script, a stacker platform control script, a pallet control script, a cargo control script and a station script. The viewing angle lens control module includes a fixed viewing angle module, a stacker viewing angle following module and a 360° patrol viewing angle module. The information display module includes a smart warehouse equipment online quantity display module, an equipment fault information display module, an equipment fault statistics display module, a pallet cargo information display module, a smart warehouse storage space utilization rate information display module, and a recent input and output statistics information display module.

[0006] The smart warehouse control method using the smart warehouse control system based on digital twin is characterized in that: The control of the cargo module of the scenario model includes the following steps: Under the Unity 3D engine, create static 3D models of objects and build real-life 3D scene models; The control of the data acquisition module and the data acquisition interface information interaction module includes the following steps: The data acquisition module collects data from stackers, conveyor lines and elevators, organizes the data and interacts with the 3D visualization system through the data acquisition interface information interaction module via the WebSocket technology protocol. When the data acquisition interface information interaction module receives an interaction request, it obtains the specified data information in the real-time database according to the calling interface task. The data acquisition interface information interaction module obtains equipment data, parses the data and renders it into real-time dynamic equipment, updates operation data, fault statistics, equipment status, fault information and storage space utilization information, and displays it through the information display module; The control of the model control script module includes the following steps: The initialization script binds the scripts of each device in the smart warehouse, calls the data acquisition interface to obtain the usage and storage status of the shelf storage locations in the current smart warehouse, produces different cargo models in each storage location according to the storage location status and binds the control script, calls the data acquisition module to obtain the equipment operation data in the smart warehouse in real time, analyzes the equipment operation data according to the equipment type, and controls the movement of the on-site equipment according to the analysis results; The control of the viewing angle lens control module includes the following steps: The viewing angle lens control module can switch between multiple viewing angle lenses such as front and rear view of the smart warehouse, stacker following, and 360° patrol. When the front-end overlooking camera is selected, the camera moves toward the front of the smart warehouse to fully monitor the front area of ​​the smart warehouse. When the stacker viewing angle lens is selected, the viewing angle lens moves to the position above the stacker platform, looking down at the stacker cargo platform at a 45° angle, and moves forward and backward and up and down with the stacker, keeping the stacker platform in the center, providing a complete viewing angle of the stacker's picking and placing process. When the patrol perspective lens is selected, the perspective lens moves at a constant speed from left to right along the set 360° surround path, surrounding the smart warehouse plant model, including the complete perspective of the left and right shelves and the front and back ends of the smart warehouse; The control of the information display module includes the following steps: The information of the information display module comes from the data collection interface information interaction module. The data collection interface information interaction module is called. Obtain the number of online devices, device fault information, device fault statistics, recent input and output statistics, and storage space utilization statistics in the real-time database, and display the information content. Get the number of online devices, the information display module analyzes the call results, obtains the total number of devices, the number of online devices, and the number of faulty devices, and then displays the information content. Obtain equipment fault information data, analyze the call results of the information display module, obtain the fault equipment number, fault code number, and fault content information, and display the information content in a table format. Obtain equipment failure statistics, analyze and call the information display module, obtain the daily equipment failure statistics within a week, and display the information content in the form of a bar chart. Get recent inflow and outflow statistics, analyze and call the information display module, obtain the daily statistics of outbound and inbound pallets of the smart warehouse within a week, and display the information content in the form of a line chart. Obtain the storage space utilization rate information data of the smart warehouse, analyze the call results of the information display module, obtain the data of each storage space type, storage space quantity, and percentage of total storage space, and display the information content in the form of statistical pie charts and tables; Obtain the pallet cargo information data, and the information display module parses the call results to obtain the pallet number, task number, cargo type, warehousing time, label, material number, batch, quantity, and display the information content.

[0007] Furthermore, the control of the cargo module of the scenario model specifically includes the following steps: Step S101) Analyze the CAD drawings of conveyors, stackers, shelves, and pallets, and take photos of the actual objects; Step S102) Create a corresponding static 3D model in Unity3D modeling function according to the CAD drawings and photos of the real object; Step S103) According to the smart warehouse planning CAD drawings, use the drawings and physical photos as samples in the Unity3D engine scene, place the shelves, stackers, and conveyors according to the drawings, and build a real-life 3D scene model.

[0008] Furthermore, the control of the data acquisition module and the data acquisition interface information interaction module specifically includes the following steps: Step S201) The data collection module collects data from each device, sorts the data and sends it in order, and interacts with the 3D visualization system through the data collection interface information interaction module via the WebSocket technology protocol; Step S202) When the data acquisition interface information interaction module receives the interaction request from the 3D visualization system, it obtains the following data information in the real-time database according to the calling interface task: Operation data statistics include the frequency of smart warehouse in and out within a week, fault data statistics include the number of faults within a week, equipment status data includes the number of online devices and the number of faults, real-time fault data includes the current faulty equipment code and fault content, storage space usage data includes the data and proportion of various types of storage spaces, and cargo information data includes the detailed information of pallet cargo according to the cargo pallet number; Step S203) The 3D visualization system obtains data information, analyzes the data information and renders it into real-time dynamic equipment, updates operation data, fault statistics, equipment status, fault information, storage space utilization information and displays them.

[0009] Furthermore, the control of the model control script module specifically includes the following steps: Step S301) Initialize the script to bind the scripts to each model device in the smart warehouse, call the data acquisition interface information interaction module to obtain the shelf storage usage, storage status, conveyor equipment status and conveyor equipment data in the current smart warehouse, and produce different cargo models in each storage location and conveyor equipment according to the storage status and conveyor equipment status and bind the control script; Step S302) The data acquisition module obtains the equipment operation data in the smart warehouse in real time. After obtaining the data, the data is parsed according to the equipment type. After the equipment control script is parsed, the movement of the on-site equipment is controlled according to the parsing results. The movement methods include the following situations: The stacker control script controls the stacker to move forward and backward to the specified position according to the equipment data; the stacker fork arm control script controls the timing and distance of the stacker fork extension; the stacker platform control script controls the platform to rise and fall to the specified height; the pallet control script controls the pallet to move to the specified position on the conveyor line and controls the timing of the pallet disappearing and creating; Step S303) The motion scene is disassembled through the video of the on-site equipment operation and the related animation video. If the conveyor PLC data is interpreted as the equipment is loaded and moving, the script finds the pallet cargo model on the conveyor and moves the pallet cargo model. If the conveyor line equipment moves after the pallet cargo model has completed but has not reached the end of the conveyor line, the pallet cargo model moves at an accelerated speed.

[0010] The present invention is based on digital twin technology, 3D visualization technology, and data service technology system. The trinity combines to open up data channels and realize the 3D and visualization of the operation process of the smart warehouse. It can view the operation status of the smart warehouse, cargo logistics process, equipment abnormalities, pallet cargo information, and smart warehouse operation data in real time. It can monitor the storage and retrieval of goods in the warehouse in real time, as well as the operation status of the entire logistics system.

[0011] The present invention can effectively coordinate and manage the operations of smart warehouses, ensure the efficient storage and rapid circulation of goods, and is generally efficient, real-time, and fidelity. The efficiency is reflected in the establishment of static three-dimensional models, the real-time is reflected in data collection and information display, and the fidelity is reflected in the dynamic rendering of three-dimensional models. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the system architecture of the present invention; Figure 2 It is a schematic diagram of the system module of the present invention; Figure 3 Constructing a graph for the static 3D model of the present invention; Figure 4 This is a diagram of the data collection architecture of the present invention; Figure 5 This is a dynamic architecture diagram of the 3D model of the present invention. DETAILED DESCRIPTION

[0013] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] The present invention discloses a smart warehouse control system based on digital twins, such as Figure 1 As shown in the figure, it includes the scene model cargo module and the smart warehouse WCS system. The scene model cargo module is built under the Unity 3D engine. The smart warehouse WCS system includes the server, WCS control system and 3D visualization system. Figure 2 As shown, the server is provided with a WEBAPI data acquisition interface information interaction module, the WCS control system is provided with a data acquisition module, and the 3D visualization system is provided with a scene model cargo module, a model control script module, a perspective lens control module and an information display module.

[0015] Among them, the scene model cargo module includes a shelf static model construction module, a stacker static model construction module, a conveyor line static model construction module, a pallet static model construction module and a cargo static model construction module. The shelf static model construction module builds a three-dimensional model identical to a physical shelf in the Unity tool, the stacker static model construction module builds a three-dimensional model identical to a physical stacker in the Unity tool, the conveyor line static model construction module builds a three-dimensional model identical to a physical conveyor line in the Unity tool, and the pallet static model construction module builds a three-dimensional model identical to a physical pallet in the Unity tool.

[0016] The cargo static model construction module builds a three-dimensional model in the Unity tool that is identical to the physical empty pallet, empty pallet group, and loaded pallet. The model is formed by a combination of a pallet model and a cargo model. The empty pallet group combines multiple pallet models based on the designed quantity, and the loaded pallet is formed by a combination of an empty pallet and a cargo model.

[0017] The data collection module includes the smart warehouse inventory data collection module, the pallet cargo information collection module, the host data information collection module, the fault data information collection module, the abnormal record data information collection module and the task information information collection module. The data of the stacker equipment online status, real-time faults, fault records, warehouse in and out records, inventory usage, and cargo information are sent to the 3D visualization system through the data collection interface.

[0018] The script control module includes the initial loading script, stacker control script, stacker fork arm control script, stacker platform control script, pallet control script, cargo control script and station entrance script. The stacker control script controls the forward and backward movement of the stacker, the stacker fork arm control script controls the left and right extension position and distance of the stacker fork arm, the cargo control script binds cargo information to the pallet, the stacker platform control script controls the rise and fall of the fork platform in the stacker main rod, the pallet control script controls the forward and backward movement of the pallet on the conveyor line and displays information, the initialization loading script binds the station entrance script to the shelf and station entrance, and synchronizes the real-time cargo model of each location with the smart warehouse data information, and the station entrance script controls the data collection parameters of each station entrance.

[0019] The perspective lens control module includes a fixed perspective module, a stacker perspective following module, a 360° patrol perspective module and a keyboard and mouse operation free movement module. The fixed perspective module can fully view the front and rear end inbound and outbound conditions by fixing the three-dimensional camera perspective at the front and rear ends of the smart warehouse. The stacker perspective following module is used to follow the stacker fork platform, and can fully view the inbound and outbound stacker position, platform height, and fork arm status. The 360° patrol perspective module patrols around the smart warehouse in a loop. The keyboard and mouse operation free movement module can freely operate the perspective position and viewing angle by using the keyboard and mouse, and view the smart warehouse without blind spots.

[0020] The information display module includes the smart warehouse equipment online quantity display module, equipment fault information display module, equipment fault statistics display module, pallet cargo information display module, smart warehouse storage space utilization information display module, and recent input and output statistics information display module.

[0021] The online equipment quantity information includes the number of complete equipment, the number of online equipment, and the number of faulty equipment; the equipment fault information includes the faulty equipment number, fault number, and fault content; the equipment fault statistics include the daily number of faults in the past week, and are displayed in the form of a bar chart; the recent inflow and outflow statistics include the daily number of outbound pallets and inbound pallets in the past week, and are displayed separately in the form of a line chart; the smart warehouse storage space utilization rate information display includes the display of storage space type, storage space number, percentage of total storage space and statistical pie charts; the pallet information display includes pallet number, task number, cargo type, warehousing time, label, material number, batch, and quantity.

[0022] Using the smart warehouse control method based on the digital twin smart warehouse control system, the control of the scene model cargo module, such as Figure 3 As shown, the following steps are included: Step S101) parsing the CAD drawings of physical conveyors, stackers, shelves, pallets and other logistics equipment components, and taking photos of the physical entities for modeling; Step S102) Then, according to the CAD drawings and physical photos of the equipment and scene entities, a desired static 3D model of the physical entity is created in the Unity3D modeling function; Step S103) After the static 3D model of the physical entity is built, according to the smart warehouse planning CAD drawings, the shelves, stackers, and conveyors are placed according to the drawings and photos in the Unity3D engine scene to build a real-life 3D scene model.

[0023] Control of data acquisition module and data acquisition interface information interaction module, such as Figure 4 As shown, the following steps are included: Step S201) The equipment data acquisition unit of the control system collects the equipment data of the station port, stacker, conveyor line, elevator, etc. from the PLC of the data acquisition equipment unit at a certain frequency, and after collating the data, it interacts with the 3D visualization system through the data acquisition interface information interaction module in the form of WebSocket technology protocol. In order to avoid the message sequence error, the message data needs to be sorted and sent in order; Step S202) When the data acquisition interface information interaction module receives the interaction request of the 3D visualization system, it obtains the specified data information in the real-time database according to the calling interface task, such as the operation data statistics of the frequency of in-and-out of the smart warehouse within a week, the fault data statistics of the number of occurrences of each fault within a week, the equipment status data of the number of online equipment and the number of faults, the real-time fault data to obtain the current fault equipment code and fault content, the storage space usage data statistics of various types of storage space data and proportions, and the cargo information data to obtain the detailed information of the pallet cargo according to the cargo pallet number; Step S203) The 3D visualization system acquires the equipment data collection information at a specific frequency, analyzes the data and renders it into real-time dynamic equipment, updates and displays basic information such as operation data, fault statistics, equipment status, fault information, and storage space utilization information at a specific frequency; When a single cargo pallet or stacker model is clicked, the 3D visualization system will send a collection request to the WEB API data collection interface unit to obtain device data and cargo information, and return the device information data to the information display unit, which will parse the information and display it.

[0024] Model control script module control, such as Figure 5 As shown, the following steps are included: Step S301) When starting the program, the initialization script will bind the scripts to each model device in the smart warehouse, and call the WEBAPI data acquisition interface to obtain the shelf storage usage, storage status, conveyor equipment status and conveyor equipment data in the current smart warehouse, and produce different cargo models in each storage location and conveyor equipment according to the storage status and conveyor equipment status and bind the control script; Step S302) After the program is started, the data acquisition module in the WCS control system is called at a certain frequency to obtain the equipment operation data in the smart warehouse in real time. After obtaining the data, the data is parsed according to the type of each device. After the parsing, the control script of each device controls the movement of the on-site equipment according to the parsing result. The stacker control script controls the stacker to move forward and backward to the specified position according to the equipment data, the fork arm control script controls the timing and distance of the stacker fork extension, the stacker platform control script controls the platform to rise and fall to the specified height, and the pallet control script controls the pallet to move to the specified position on the conveyor line and controls the timing of the pallet disappearing and creating; Step S303) The motion scene is disassembled through the video of the on-site equipment operation and the related animation video, and the model unit is driven by the model script control module to be dynamic, real-time and accurate, so that the WCS 3D visualization system and the display scene can achieve the digital twin effect. For example, if the conveyor PLC data is parsed as the equipment is loaded and moving, the script will find the pallet cargo model on the conveyor and move the pallet cargo model. If the conveyor line equipment moves after the pallet cargo model has reached the end of the conveyor line, the pallet cargo model will be moved at an accelerated speed to achieve the digital twin effect of the WCS 3D visualization system consistent with the on-site effect.

[0025] The control of the viewing angle lens control module includes the following steps: Step S401) The client unit interface has a plurality of camera switch buttons for viewing the front and rear ends of the smart warehouse, following the stacker, and 360° inspection. When the front view button is selected in the client unit, the camera viewing platform moves according to the set position, providing the client interface with complete monitoring of the front area of ​​the smart warehouse. The view angle is set to view the entire front and rear areas; Step S402) The client unit interface has buttons for following the perspective of multiple stackers. When the client unit selects stacker No. 1, the perspective lens moves to the position above the stacker platform according to the settings, and looks down at the stacker cargo platform at a 45° perspective, and follows the stacker to move back and forth and up and down, keeping the stacker platform displayed in the center, which can provide a complete perspective of the stacker's picking and placing process.

[0026] Step S403) The client unit interface has a patrol view button. When the patrol view button is clicked, the view lens moves at a constant speed from left to right according to the set 360° surround path, and surrounds the smart warehouse plant model, including the complete view of the left and right shelves and the front and back ends of the smart warehouse.

[0027] Step S404) The client unit can freely move the camera angle of view. The keyboard "W" key controls the camera to move forward, the "S" key controls the camera to move backward, the "A" key controls the camera to move left, and the "D" key controls the camera to move right. When the mouse "right" key is pressed, the camera is controlled to rotate freely.

[0028] The control of the information display module includes the following steps: Step S501) The right and center area of ​​the client unit interface is the information display area, such as Figure 4 As shown, the information shown comes from the data acquisition interface information interaction module. The client unit calls the data acquisition interface information interaction module at a certain frequency, obtains the number of online devices, equipment fault information, equipment fault statistics, recent input and output statistics, storage space utilization statistics in the real-time database and displays the information content. The pallet cargo information needs to be actively called when clicking the cargo model; Step S502) The client unit calls the data acquisition interface information interaction module to obtain the number of online devices. The information display module analyzes the call result, obtains the total number of devices, the number of online devices, and the number of faulty devices, and displays them in the right area of ​​the client interface; Step S503) The client unit calls the data acquisition interface information interaction module to obtain the equipment fault information data. The information display module analyzes the call result, obtains the fault device number, fault code number, and fault content information, and displays them in a table in the right area of ​​the client interface; Step S504) The client unit calls the data acquisition interface information interaction module to obtain equipment failure statistics, and the information display module analyzes the call results to obtain the daily equipment failure statistics within a week, and displays them in the right area of ​​the client interface in the form of a bar chart; Step S505) The client unit calls the data collection interface information interaction module to obtain recent inflow and outflow statistics. The information display module analyzes the call results, obtains the statistics of the number of outbound pallets and inbound pallets of the smart warehouse every day within a week, and displays them in the form of line graphs in the right area of ​​the client interface; Step S506) The client unit calls the data collection interface information interaction module to obtain the intelligent warehouse storage location utilization rate information data, and the information display module analyzes the call result to obtain the data such as the storage location type, storage location quantity, and percentage of the total storage location, and displays them in the right area of ​​the client interface in the form of a statistical pie chart and a table; Step S507) When clicking on the conveyor line or shelf cargo unit, the client unit is triggered to call the data acquisition interface information interaction module to obtain the pallet cargo information data. The information display module parses the call result and obtains the pallet number, task number, cargo type, warehousing time, label, material number, batch, quantity and other information data, and pops up an information display bar in the central area of ​​the client interface to display it in a form. After viewing, you can click the "X" close button in the upper right corner of the information display bar to close it.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The intelligent warehouse control system based on digital twin is characterized by: It includes a scene model cargo module and a smart warehouse WCS system. The scene model cargo module is built under the Unity 3D engine. The smart warehouse WCS system includes a server, a WCS control system and a 3D visualization system. The server is provided with a data acquisition interface information interaction module, the WCS control system is provided with a data acquisition module, and the 3D visualization system is provided with a scene model cargo module, a model control script module, a perspective lens control module and an information display module. The scenario model cargo module includes a shelf static model building module, a stacker static model building module, a conveyor line static model building module, a pallet static model building module and a cargo static model building module. The data collection module includes a smart warehouse inventory data collection module, a pallet cargo information collection module, a host data information collection module, a fault data information collection module, an abnormal record data information collection module and a task information information collection module. The script control module includes an initial loading script, a stacker control script, a stacker fork arm control script, a stacker platform control script, a pallet control script, a cargo control script and a station script. The viewing angle lens control module includes a fixed viewing angle module, a stacker viewing angle following module and a 360° patrol viewing angle module. The information display module includes a smart warehouse equipment online quantity display module, an equipment fault information display module, an equipment fault statistics display module, a pallet cargo information display module, a smart warehouse storage space utilization rate information display module, and a recent input and output statistics information display module.

2. The smart warehouse control method using the smart warehouse control system based on digital twins as claimed in claim 1 is characterized in that: The control of the cargo module of the scenario model includes the following steps: Under the Unity 3D engine, create static 3D models of objects and build real-life 3D scene models; The control of the data acquisition module and the data acquisition interface information interaction module includes the following steps: The data acquisition module collects data from stackers, conveyor lines and elevators, organizes the data and interacts with the 3D visualization system through the data acquisition interface information interaction module via the WebSocket technology protocol. When the data acquisition interface information interaction module receives an interaction request, it obtains the specified data information in the real-time database according to the calling interface task. The data acquisition interface information interaction module obtains equipment data, parses the data and renders it into real-time dynamic equipment, updates operation data, fault statistics, equipment status, fault information and storage space utilization information, and displays it through the information display module; The control of the model control script module includes the following steps: The initialization script binds the scripts to the equipment models in the 3D smart warehouse, calls the data acquisition interface to obtain the shelf storage usage, storage status, conveyor equipment status and conveyor equipment data in the current smart warehouse, produces different cargo models in each storage location and conveyor equipment according to the storage status and conveyor equipment status, and binds the control script, calls the data acquisition module to obtain the equipment operation data in the smart warehouse in real time, analyzes the equipment operation data according to the equipment type, and controls the movement of the on-site equipment according to the analysis results; The control of the viewing angle lens control module includes the following steps: The viewing angle lens control module can switch between multiple viewing angle lenses such as front and rear view of the smart warehouse, stacker following, and 360° patrol. When the front-end overlooking camera is selected, the camera moves toward the front of the smart warehouse to fully monitor the front area of ​​the smart warehouse. When the stacker viewing angle lens is selected, the viewing angle lens moves to the position above the stacker platform, looking down at the stacker cargo platform at a 45° angle, and moves forward and backward and up and down with the stacker, keeping the stacker platform in the center, providing a complete viewing angle of the stacker's picking and placing process. When the patrol perspective lens is selected, the perspective lens moves at a constant speed from left to right along the set 360° surround path, surrounding the smart warehouse plant model, including the complete perspective of the left and right shelves and the front and back ends of the smart warehouse; The control of the information display module includes the following steps: The information of the information display module comes from the data collection interface information interaction module. The data collection interface information interaction module is called. Obtain the number of online devices, device fault information, device fault statistics, recent input and output statistics, and storage space utilization statistics in the real-time database, and display the information content. Get the number of online devices, the information display module analyzes the call results, obtains the total number of devices, the number of online devices, and the number of faulty devices, and then displays the information content. Obtain equipment fault information data, analyze the call results of the information display module, obtain the fault equipment number, fault code number, and fault content information, and display the information content in a table format. Obtain equipment failure statistics, analyze and call the information display module, obtain the daily equipment failure statistics within a week, and display the information content in the form of a bar chart. Get recent inflow and outflow statistics, analyze and call the information display module, obtain the daily statistics of outbound and inbound pallets of the smart warehouse within a week, and display the information content in the form of a line chart. Obtain the storage space utilization rate information data of the smart warehouse, analyze the call results of the information display module, obtain the data of each storage space type, storage space quantity, and percentage of total storage space, and display the information content in the form of statistical pie charts and tables; Obtain the pallet cargo information data, and the information display module parses the call results to obtain the pallet number, task number, cargo type, warehousing time, label, material number, batch, and quantity, and displays the information content in a form.

3. The smart warehouse control method according to claim 2, characterized in that: The control of the cargo module of the scenario model specifically includes the following steps: Step S101) Analyze the CAD drawings of conveyors, stackers, shelves, and pallets, and take photos of the actual objects; Step S102) Create a corresponding static 3D model in Unity3D modeling function according to the CAD drawings and photos of the real object; Step S103) According to the smart warehouse planning CAD drawings, use the drawings and physical photos as samples in the Unity3D engine scene, place the shelves, stackers, and conveyors according to the drawings, and build a real-life 3D scene model.

4. The smart warehouse control method according to claim 3 is characterized in that: The control of the data acquisition module and the data acquisition interface information interaction module specifically includes the following steps: Step S201) The data collection module collects data from each device, sorts the data and sends it in order, and interacts with the 3D visualization system through the data collection interface information interaction module via the WebSocket technology protocol; Step S202) When the data acquisition interface information interaction module receives the interaction request from the 3D visualization system, it obtains the following data information in the real-time database according to the calling interface task: Operation data statistics include the frequency of smart warehouse in and out within a week, fault data statistics include the number of faults within a week, equipment status data includes the number of online devices and the number of faults, real-time fault data includes the current faulty equipment code and fault content, storage space usage data includes the data and proportion of various types of storage spaces, and cargo information data includes the detailed information of pallet cargo according to the cargo pallet number; Step S203) The 3D visualization system obtains data information, analyzes the data information and renders it into real-time dynamic equipment, updates operation data, fault statistics, equipment status, fault information, storage space utilization information and displays them.

5. The smart warehouse control method according to claim 4 is characterized in that: The control of the model control script module specifically includes the following steps: Step S301) Initialize the script to bind the scripts to each model device in the smart warehouse, call the data acquisition interface information interaction module to obtain the shelf storage usage, storage status, conveyor equipment status and conveyor equipment data in the current smart warehouse, and produce different cargo models in each storage location and conveyor equipment according to the storage status and conveyor equipment status and bind the control script; Step S302) The data acquisition module obtains the equipment operation data in the smart warehouse in real time, and parses the data according to the equipment type. After parsing, the control script of each equipment controls the movement of the equipment model in the 3D visualization system according to the parsing result. The movement mode includes the following situations: The stacker control script controls the stacker to move forward and backward to the specified position according to the equipment data; the stacker fork arm control script controls the timing and distance of the stacker fork extension; the stacker platform control script controls the platform to rise and fall to the specified height; the pallet control script controls the pallet to move to the specified position on the conveyor line and controls the timing of the pallet disappearing and creating; Step S303) The motion scene is disassembled through the video of the on-site equipment operation and the related animation video. If the conveyor PLC data is interpreted as the equipment is loaded and moving, the script finds the pallet cargo model on the conveyor and moves the pallet cargo model. If the conveyor line equipment moves after the pallet cargo model has completed but has not reached the end of the conveyor line, the pallet cargo model moves at an accelerated speed.

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