Automatic cargo loading and unloading warehousing control system and cargo loading and unloading device therefor

Abstract

The present invention relates to the technical field of warehousing control. In particular disclosed are an automatic cargo loading and unloading warehousing control system and a cargo loading and unloading device therefor, the system being provided with a compartment parking information acquisition and processing module, an intelligent cargo conveyance control module, a warehousing management information comprehensive determination module, and a data control library. First, compartment parking information acquisition and preprocessing is performed, and it is determined whether a cargo loading and unloading AGV can be started, and next, a first channel is screened out to convey a goods in a compartment. Hence, a control anomaly value of warehousing management information of an intelligent warehousing control platform is comprehensively calculated, and the warehouse management information is subjected to autonomous early warning control and indication, thus facilitating rapid operations of cargo loading and unloading, and greatly improving the efficiency of warehousing intelligentization. Meanwhile, the labor costs of warehousing operations can be reduced, and the quality and accuracy of cargo processing can also be improved.

Description

Automatic loading and unloading warehouse control system and loading and unloading equipment Technical Field

[0001] The present invention relates to the technical field of warehouse control, and in particular to an automatic loading and unloading warehouse control system and loading and unloading equipment thereof. Background Art

[0002] In traditional warehousing operations, manpower input still accounts for a large proportion, and there are corresponding risks in the loading and unloading process. As labor costs continue to rise and labor is increasingly scarce, improving the level of automation in warehousing and logistics has become one of the topics that must be paid attention to. Through intelligent control of warehousing, the cost of manual operation and the loss caused by human factors can be reduced, which is conducive to the rapid loading and unloading and warehousing operations of goods, greatly improving warehousing efficiency. At the same time, through intelligent control operations of warehousing, information such as the location, status and quantity of goods can be understood in real time, which improves the visualization and controllability of the warehousing link, and can improve the accuracy and consistency of warehousing operations. The quality and accuracy of goods handling are also improved to a certain extent, which in turn helps to better carry out logistics planning and resource allocation.

[0003] For example, the patent application with announcement number CN108089557B discloses an AGV shelf storage control system and control method, which is applied to the clothing manufacturing execution MES system, and the control system includes an AGV control center, a shelf recovery area, a shelf release area and an RFID detection device; the AGV control center is used to control the AGV transport vehicle to go to the shelf recovery area to carry the shelf and material basket and go to the material storage area to pick up the target material according to the target material outbound instruction of the MES system, and control the AGV transport vehicle to deliver the target material to the position of the sewing station obtained according to the MES system, and control the AGV transport vehicle to carry the empty shelf and material basket back to the shelf recovery area after receiving the signal from the WCS system that the sewing station has taken all the materials; the RFID detection device is used to detect the shelf code and material basket code on the AGV transport vehicle, and transmit the shelf code and material basket code information to the WCS system. The above application can realize the high automation of material transportation and shelf management in the clothing manufacturing process, greatly improving production efficiency.

[0004] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems: when controlling the AGV transport vehicle, the above application lacks analysis of the AGV transport vehicle function information and the environmental information of the area where it is located. At the same time, the numerical parameters of the above application are not processed through the algorithm, so that the shelf management in the clothing manufacturing process does not achieve a high degree of accuracy, and the efficiency of automatic management cannot be improved. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automatic loading and unloading warehouse control system and loading and unloading equipment thereof, which can effectively solve the problems involved in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: The first aspect of the present invention provides an automatic loading and unloading warehouse control system, including: a docked carriage information collection and processing module, used to analyze the activation judgment value of the loading and unloading AGV, and the activation judgment value of the loading and unloading AGV is used to collect and pre-process the docked carriage information; a cargo transfer intelligent control module, used to transfer the carriage cargo through the loading and unloading AGV, analyze the selected evaluation value of each pre-execution channel, and screen the first channel for carriage cargo transfer; a warehouse management information comprehensive judgment module, used to comprehensively calculate the warehouse management information control abnormal value of the intelligent warehouse control platform, and perform autonomous early warning control prompts on the warehouse management information.

[0007] As a further solution, the autonomous early warning control prompt for the warehouse management information is carried out, and the specific analysis process is: comparing the warehouse management information control abnormal value of the intelligent warehouse control platform with the preset warehouse management information control abnormal threshold. If the warehouse management information control abnormal value of the intelligent warehouse control platform is higher than the preset warehouse management information control abnormal threshold, the warehouse management information is autonomously warned and controlled.

[0008] As a further solution, the warehouse management information of the intelligent warehouse control platform controls abnormal values. The specific analysis process is as follows: deploy the set operation control cycle as each control time point, obtain the operation parameters of each gantry depalletizer, including the servo motor speed, cylinder pressure and operation noise at each control time point, and at the same time count the depalletizing time corresponding to each operation of each gantry depalletizer within the set operation control cycle, extract the servo motor reference speed, cylinder reference pressure, operation noise limit value and depalletizing permission time of the gantry depalletizer from the data control library, and calculate the operation status evaluation coefficient of the gantry depalletizer; count and obtain the functional parameters, battery parameters and operation environment parameters of each AGV transporter, and the functional parameters It includes the emergency braking sliding distance corresponding to each emergency braking in the operation control cycle, as well as the forward speed, backward speed and left and right swing amplitude at each control time point. The battery parameters include the number of times the battery protection mechanism responds in the operation control cycle and the output power at each control time point. The operating environment parameters include the ground unevenness difference of the road surface that each AGV transport vehicle passes through at each control time point. The emergency braking sliding limit distance, forward speed limit value, backward speed limit value, left and right swing amplitude allowable value, output limit power and ground unevenness limit difference of the AGV transport vehicle are extracted from the data control library, and the handling scheduling evaluation coefficient of the AGV transport vehicle is calculated, thereby calculating the warehouse management information control abnormality value of the intelligent warehouse control platform.

[0009] As a further solution, the first screening channel is used to transfer cargo in the carriage. The specific analysis process is: the selected evaluation values ​​of each pre-execution channel are arranged in order from large to small, thereby screening the first screening channel for transferring cargo in the carriage.

[0010] As a further solution, the specific analysis process of selecting the evaluation value of each pre-execution channel is as follows:

[0011] Through visual recognition, the vacant storage locations in the buffer storage area in front of the library are obtained, and the adaptive control storage locations are selected according to the preset storage location selection mechanism. At the same time, the pre-execution channels are obtained according to the preset path generation algorithm; the maximum flatness deviation, maximum curvature value of the curve section and maximum slope of each pre-execution channel during the operation control cycle are obtained; at the same time, the maximum friction coefficient measured in the historical operation of each pre-execution channel is obtained; the flatness deviation reference value, curve section curvature limit value, bearing slope and friction coefficient limit value of the execution channel are extracted from the data control library; and the selection evaluation value of each pre-execution channel is calculated.

[0012] As a further solution, the specific data acquisition process of the activation judgment value of the loading and unloading AGV is as follows:

[0013] The contact line between the boarding bridge and the bottom of the carriage is collected through 3D Sky Eye and recorded as the reference line of the climbing bridge position. The outer line of the bottom of the carriage is scanned to extract the angle between the reference line of the climbing bridge position and the outer line of the bottom of the carriage, which is recorded as the climbing bridge position offset angle. At the same time, the maximum spacing length between the first and second lateral positions of the climbing bridge and the inner side of the corresponding vehicle is extracted, the height difference between the plane height of the hydraulic lifting platform and the height of the bottom of the carriage is extracted, and the damping coefficient of the first and second intelligent in-position damping blocks preset on the platform are extracted. The minimum angle between the longest extended central axis of the carriage floor and the outer edge line of the platform, as well as the angle between the longest extended central axis of the carriage floor and the vertical center line of the climbing bridge are obtained. The climbing bridge position offset angle limit value and the maximum spacing limit length between the first and second lateral positions of the climbing bridge and the inner side of the corresponding vehicle are extracted from the data control library, thereby calculating the activation judgment value of the loading and unloading AGV.

[0014] The second aspect of the present invention provides an automatic loading and unloading equipment, including: an intelligent warehouse control platform, a gantry palletizer, an AGV transporter and a loading and unloading AGV; the intelligent warehouse control platform is used to control the automatic loading and unloading equipment; the gantry palletizer is used to depalletize and stack, and the gantry palletizer exchanges information with the AGV transporter; the AGV transporter is used to receive cargo transmission instructions from the intelligent warehouse control platform and transport cargo by screening the first channel; the loading and unloading AGV is used to unload material information from the vehicle and transport it to the truck; a pressure sensor is used to obtain the cylinder pressure of each gantry palletizer at each control time point; a sound level meter is used to obtain the operating noise of each gantry palletizer at each control time point; a power sensor is used to obtain the output power of each AGV transporter at each control time point.

[0015] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0016] (1) The present invention provides an automatic loading and unloading warehousing control system and its loading and unloading equipment. First, the information of the docked carriages is collected and pre-processed to determine whether the loading and unloading AGV is successfully enabled. Then, the first channel is screened to transfer the cargo in the carriages. The storage management information of the intelligent storage control platform is comprehensively calculated to control abnormal values. The warehouse management information is independently warned and controlled, which is conducive to the rapid loading and unloading and storage operations of the cargo and greatly improves the efficiency of intelligent storage.

[0017] (2) The present invention collects and pre-processes the information of the parking compartments, analyzes the matching degree between the boarding ramp, hydraulic lifting platform and platform and the parking compartments, and evaluates and analyzes the activation judgment value of the loading and unloading AGV. It can not only determine in real time whether the compartment parking position meets the parking standard, but also improve the visualization and controllability of the compartment docking operation.

[0018] (3) The present invention transfers the cargo in the carriage through the loading and unloading AGV, analyzes the flatness, curvature of the curve section, slope and friction coefficient of each pre-execution channel, evaluates the selected evaluation value of each pre-execution channel, and screens the first channel for the carriage cargo transfer, providing a more comprehensive data basis for the subsequent comprehensive judgment of the warehouse management information control abnormal value of the intelligent warehouse control platform, and at the same time can improve the accuracy and consistency of warehouse operations.

[0019] (4) The present invention determines the operating parameters of the gantry palletizer, the functional parameters of the AGV transporter, the battery parameters and the operating environment parameters, comprehensively calculates the abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform, and performs autonomous early warning control prompts on the warehouse management information. This not only reduces the labor cost of warehouse operations, but also improves the handling quality and accuracy of goods, and helps to achieve more reasonable and efficient resource allocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram showing the connection of system modules of the present invention.

[0021] FIG2 is a logical diagram of the warehousing process involved in the present invention.

[0022] FIG3 is a logic diagram of the outbound process involved in the present invention.

[0023] FIG4 is a schematic diagram of the overlapping of the boarding ramp involved in the present invention. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] 1 , the first aspect of the present invention provides an automatic loading and unloading warehousing control system, comprising: a docked carriage information collection and processing module, a cargo transfer intelligent control module, and a warehousing management information comprehensive determination module.

[0026] An automatic loading and unloading warehouse control system also includes a data control library, wherein the data control library is used to store the servo motor reference speed, cylinder reference pressure, operating noise limit value and depalletizing permitted time of the gantry depalletizer, and also stores the emergency braking and sliding limit distance, forward speed limit value, backward speed limit value, left and right swing amplitude permitted value, output limit power and ground unevenness limit difference of the AGV transport vehicle, stores the flatness deviation reference value of the execution channel, the curvature limit value of the curve section, the bearing slope and the friction coefficient limit value, and stores the position offset angle limit value of the climbing bridge, and the maximum distance limit length between the first and second side positions of the climbing bridge and the inner side of the corresponding vehicle.

[0027] The docking compartment information collection and processing module is connected to the cargo delivery intelligent control module, the cargo delivery intelligent control module is connected to the warehouse management information comprehensive judgment module, and the docking compartment information collection and processing module, the cargo delivery intelligent control module and the warehouse management information comprehensive judgment module are all connected to the data control library.

[0028] The warehouse management information comprehensive judgment module is used to comprehensively calculate the warehouse management information control abnormal values ​​of the intelligent warehouse control platform, and to provide autonomous early warning control prompts for the warehouse management information.

[0029] In this embodiment, the intelligent warehouse control platform can be divided into a warehouse control system, a warehouse management system and an AGV scheduling system.

[0030] In this embodiment, the functions of the AGV scheduling system include establishing a map model within the operation scene of each AGV transporter, dynamically displaying the working position and operation status of each AGV transporter, receiving, allocating, issuing and feedback of taxi-hailing tasks, real-time display of the execution status of tasks at all levels, optimal planning of multiple paths within the map model, real-time monitoring of the battery power, low-battery warning and charging of each AGV transporter, real-time monitoring of the position, obstacle avoidance, movement and other status information of each AGV transporter in the system, and real-time monitoring of the communication status between each docking module in the system.

[0031] It should be explained that the above-mentioned intelligent warehousing control platform can be divided into three execution operations, namely, goods entering the warehouse, goods leaving the warehouse, and pallet supply and recovery.

[0032] In this embodiment, the specific operation process of goods entering the warehouse is shown in Figure 2, and the specific process is as follows:

[0033] The driver drives the vehicle to the metrology and calibration center; the driver opens the door and drives the delivery vehicle to the platform position. After confirming that it is parked in the correct posture, the driver informs the receiving and delivery room of the three-dimensional warehouse of the platform number and the material information medium in the vehicle. The three-dimensional warehouse manager enters the corresponding information in the warehouse management system and synchronizes the above information to the warehouse control system in the task issuance link; the warehouse control system issues the task work order to the AGV scheduling system based on the synchronized information and platform number; the vehicle carrier is in place, the hydraulic docking station starts to rise and fall to the specified height, overlaps the tongue plate, and completes the overlap with the truck; the automatic loading and unloading AGV receives the docking station arrival signal, then enters the docking station and starts to enter the delivery vehicle to pick up the goods; after the goods are picked up, the automatic loading and unloading AGV delivers the goods to the gantry depalletizer or the storage buffer area according to the scheduling instructions, and reports the current task completion status and storage location information; the automatic loading and unloading AGV completes the unloading this time and repeats until the entire unloading action is completed; after the manufacturer's goods are unloaded, the automatic loading and unloading AGV notifies the digital vehicle carrier and the docking station to reset, and the vehicle leaves.

[0034] In this embodiment, the specific operation process of goods out of the warehouse is shown in Figure 3, and the specific process is as follows:

[0035] The warehouse management system compiles a distribution plan and generates distribution tasks based on the inventory status of the unit and the inventory status of the demand unit; the warehouse management system notifies the third-party logistics company of the distribution task information, and the loading vehicle information fed back by the third-party logistics company is fed back to the warehouse management system and entered; the delivery vehicle arrives at the measurement and calibration center, the driver opens the door, drives the delivery vehicle to the platform position, confirms that it is parked in the correct posture, and informs the receiving and delivery room of the three-dimensional warehouse of the platform number and vehicle information; the warehouse control system generates a sequential outbound task, and automatically transports the outbound measuring instruments to the stacking port of the gantry depalletizer, which is first palletized by the gantry depalletizer , bind the pallet information with the turnover box and measuring instrument information and upload it to the warehouse control system. The warehouse control system generates a handling task and sends it to the AGV scheduling system. The AGV scheduling system dispatches the automatic loading and unloading AGV to deliver the turnover boxes in batches to the hydraulic docking bridge on the designated platform; at this time, the vehicle carrier and the hydraulic docking bridge start to rise and fall to the specified height, overlap the tongue plate, and complete the connection with the truck; the automatic loading and unloading AGV enters the car to complete the loading, the AGV returns to the hydraulic docking bridge, and sends an in-place signal; the automatic loading and unloading AGV completes the unloading this time, and repeats until the entire loading action is completed, and then the automatic loading and unloading AGV notifies the digital vehicle carrier and docking bridge to reset, and the vehicle leaves.

[0036] In this embodiment, the specific operation process of pallet supply and recovery is as follows:

[0037] (1) Pallet supply process: When the gantry palletizer needs an empty pallet for outbound palletizing, the empty pallet demand information is reported to the warehouse control system. The warehouse control system generates a pallet supply task based on the cache station situation and sends it to the AGV scheduling system. The AGV scheduling system dispatches the pallet AGV to fork the pallet from the pallet cache area and send it to the gantry palletizer interaction station.

[0038] (2) Pallet recovery process: The gantry palletizer will recover the pallet trucks when it enters the warehouse. When the pallets are full, they will flow into the intermediate roller line for caching. When the caching station is full, the empty pallet unloading demand information will be reported to the warehouse control system. The warehouse control system will generate a pallet stack recovery task based on the caching station situation and send it to the AGV scheduling system. The AGV scheduling system will dispatch the pallet AGV to fork the pallet stack from the roller line pallet cache area and send it to the empty pallet stack cache area in the warehouse for storage.

[0039] Specifically, the warehouse management information is independently warned and controlled. The specific analysis process is as follows:

[0040] The warehouse management information control abnormal value of the intelligent warehouse control platform is compared with the preset warehouse management information control abnormal threshold. If the warehouse management information control abnormal value of the intelligent warehouse control platform is higher than the preset warehouse management information control abnormal threshold, it needs to be explained that when the warehouse management information control abnormal value of the above-mentioned intelligent warehouse control platform is higher than the preset warehouse management information control abnormal threshold, it means that there are equipment failures in the operation of the intelligent warehouse control platform and the AGV transport vehicle is unstable during driving. Therefore, it is necessary to monitor the warehouse management information of the intelligent warehouse control platform in real time to ensure the smooth, safe and efficient transportation of goods.

[0041] Then the warehouse management information will be given autonomous early warning control prompts.

[0042] Furthermore, the warehouse management information of the intelligent warehouse control platform controls abnormal values. The specific calculation formula is:

[0043] Where δ is the abnormal value of the warehouse management information control of the intelligent warehouse control platform. In this embodiment, if the intelligent warehouse control platform has equipment failure and other problems, the abnormal value of the warehouse management information control of the intelligent warehouse control platform may lead to interruption or delay of warehouse operations, affecting the tracking and management of goods. It may also cause vehicle collisions, blockages or incorrect path planning, resulting in equipment damage, delays or safety risks. In order to reduce these negative impacts, it is necessary to monitor the intelligent warehouse control platform in real time, promptly identify faults that hinder intelligent warehouse operations, and take corresponding measures in a timely manner.

[0044] α1 is the operating status evaluation coefficient of the gantry depalletizer, α2 is the handling scheduling evaluation coefficient of the AGV transporter, Φ1 and Φ2 are the execution weight factors corresponding to the set operating status evaluation coefficient and the handling scheduling evaluation coefficient, respectively, and e is a natural constant.

[0045] Specifically, the operating status evaluation coefficient of the gantry palletizer is analyzed as follows:

[0046] Deploy the set operation control cycle to each control time point and obtain the operating parameters of each gantry palletizer, including the servo motor speed, cylinder pressure and operating noise at each control time point;

[0047] It should be explained that the above-mentioned gantry depalletizer is used for depalletizing turnover boxes and pallets, and the working principle of the gantry depalletizer is as follows:

[0048] The turnover boxes are grabbed by the gantry robot and transported to the warehousing conveyor line. After all the turnover boxes are grabbed, the gantry robot grabs the pallets in turn and transports them to the pallet temporary storage position and scans the code. Then the conveying equipment transports the pallets to the pallet stacking position. After stacking into 10 turnover boxes, they are transported to the roller line pallet cache position, and the single-fork AGV forklift takes the single stack to the pallet temporary storage area.

[0049] It is further necessary to explain that the functional parameters of the above-mentioned turnover boxes are as follows: the turnover boxes are made of plastic and are used to hold electric energy metering instruments, where the types of electric energy metering instruments include but are not limited to single-phase electric energy meters, three-phase electric energy meters, low-voltage current transformers and metering automation terminals. The information carriers of the turnover boxes include RFID tags and one-dimensional bar codes. The turnover boxes come in two sizes, namely 720mm long, 450mm wide, and 120mm high, and 720mm long, 450mm wide, and 200mm high. A single box can carry 50kg, and the stacking weight is divided into 100kg and 350kg according to the type of cargo placement.

[0050] At the same time, the depalletizing time corresponding to each operation of each gantry depalletizing crane within the set operation control cycle is counted;

[0051] Extract the servo motor reference speed, cylinder reference pressure, operating noise limit value and depalletizing permission time of the gantry depalletizer from the data control library;

[0052] Calculate the operating status evaluation coefficient of the gantry palletizer and depalletizer using the following formula:

[0053] in,

[0054] In the formula, α1 is the operating status evaluation coefficient of the gantry depalletizer. The operating status evaluation coefficient of the above-mentioned gantry depalletizer can not only be analyzed by the above-mentioned algorithm, but can also be directly obtained through special equipment. If the servo motor speed is too high or too low, it may lead to inaccurate palletizing and stacking operations, thereby affecting the logistics efficiency of the warehouse and the safety of the goods; if the cylinder pressure is unstable, it may cause the mechanical parts to move unsteadily or not work properly, which may affect the accuracy of the palletizing and stacking operations, and even cause mechanical failure and damage; excessive operating noise may also cause vibration and damage to the mechanical parts and equipment structure, shortening the service life of the equipment; if the depalletizing time is too long, it may lead to low warehouse logistics efficiency, delay the processing and distribution of goods, and affect the warehouse's operational efficiency and the timeliness of goods; in order to reduce these negative impacts, the gantry depalletizer needs to ensure that the servo motor speed, cylinder pressure, operating noise and depalletizing time are within a reasonable range. In addition, regular maintenance and equipment inspections are also important measures to ensure the normal operation of the equipment and reduce negative impacts.

[0055] ω1 and ω2 are the operation evaluation values ​​corresponding to the set equipment performance and depalletizing operation, A1 and A2 are the operation evaluation weight coefficients corresponding to the set equipment performance and depalletizing operation, ξ1 and ξ2 are the operation evaluation correction coefficients corresponding to the set equipment performance and depalletizing operation, MZ ab MY ab and MS ab They are respectively the servo motor speed, cylinder pressure and operating noise of the a-th gantry palletizer at the b-th control time point. It should be explained that the devices for obtaining the numerical values ​​of the above-mentioned cylinder pressure and operating noise are pressure sensors and sound level meters, respectively. The servo motor speed refers to the rotation speed of the motor shaft, usually measured in revolutions per minute; the cylinder pressure refers to the gas pressure generated inside the cylinder, usually measured in Pascals; the gantry palletizer will generate noise during operation, which may come from the movement and friction of the motor, cylinder, transmission and other mechanical parts.

[0056] In this embodiment, a pressure sensor is installed on the cylinder working chamber of the gantry depalletizer to measure the working pressure inside the cylinder and monitor the pressure changes inside the cylinder to ensure the normal operation and safety of the gantry depalletizer. The sound level meter is installed near the gantry structure to be close to the noise source. This allows for accurate measurement of the overall noise level generated by the gantry depalletizer during operation.

[0057] MZ′, MY′ and MS′ are the reference speed of the servo motor, the reference pressure of the cylinder and the operating noise limit of the gantry palletizer, respectively. ac is the depalletizing time corresponding to the cth operation of the ath gantry depalletizing crane. It should be explained that the depalletizing time of the above-mentioned gantry depalletizing crane refers to the time required to complete one depalletizing task.

[0058] MC′ is the permitted depalletizing time of the gantry depalletizer, a is the number of each gantry depalletizer, a = 1, 2, 3, ..., z, z is the number of gantry depalletizers, b is the number of each control time point, b = 1, 2, 3, ..., y, y is the number of control time points, c is the number of each operation, c = 1, 2, 3, ..., x, x is the number of operations, and e is a natural constant.

[0059] Furthermore, the handling scheduling evaluation coefficient of the AGV transporter is analyzed in the following way:

[0060] Collect and obtain the functional parameters, battery parameters and operating environment parameters of each AGV transporter;

[0061] It should be explained that when the AGV transporter needs to be recharged, it will automatically report to the AGV dispatching system and request charging. The AGV dispatching system will automatically direct the AGV transporter to the designated charging area. The on-board charging connector will automatically connect to the ground charging system and start charging. After charging is completed, the AGV transporter will automatically disconnect from the charging system and drive to the standby area for normal operation. The automatic charging strategy is divided into three modes:

[0062] Low power mode means that the system sets a low power threshold. When the power is lower than this threshold, the AGV transporter will automatically perform the charging task; idle mode means setting a fixed time period, and the AGV transporter will automatically perform the charging task at this time point; the central control server directly issues the charging task.

[0063] Functional parameters include the emergency braking distance corresponding to each emergency braking within the operation control cycle, as well as the forward speed, reverse speed and left and right swing amplitude at each control time point;

[0064] Battery parameters include the number of times the battery protection mechanism responds during the operation control cycle and the output power at each control time point;

[0065] The operating environment parameters include the ground unevenness of the road surface that each AGV transport vehicle passes through at each control time point;

[0066] Extract the AGV's emergency braking and sliding distance, forward speed limit, backward speed limit, left and right swing amplitude allowable value, output power limit, and ground unevenness limit from the data control library;

[0067] Calculate the handling scheduling evaluation coefficient of the AGV transporter. The calculation formula is:

[0068] in,

[0069] In the formula, α2 is the handling scheduling evaluation coefficient of the AGV transporter. The handling scheduling evaluation coefficient of the above-mentioned AGV transporter can not only be calculated by the above-mentioned calculation method, but also be obtained by detection through special equipment. If the emergency braking distance is too long, the AGV transporter may not be able to stop in time, increasing collision and safety risks; if the forward speed and reverse speed are too low, the task execution time may be prolonged, affecting work efficiency; if the swing amplitude is too large, the AGV transporter may collide with surrounding obstacles, causing damage or blockage; if the output power is insufficient, the AGV transporter may not be able to work normally under special conditions such as heavy loads or ramps, resulting in task interruption or failure; if the ground unevenness is too large, the AGV transporter may bump, shake or even get stuck during driving, which will affect the stability and driving effect of the AGV transporter; in summary, the above-mentioned values ​​are closely related to the operating status of the AGV transporter, and its numerical information needs to be monitored in real time to ensure the safe, stable and efficient operation of the AGV transporter.

[0070] σ1, σ2 and σ3 are the scheduling evaluation values ​​corresponding to the set functional parameters, battery parameters and operating environment parameters respectively. F1, F2 and F3 are the scheduling weight coefficients corresponding to the set functional parameters, battery parameters and operating environment parameters respectively. and They are the scheduling correction coefficients corresponding to the set functional parameters, battery parameters and operating environment parameters, VA fg VB is the sliding distance of the f-th AGV corresponding to the g-th emergency brake, fb VC fb 、VD fb and VF fb are the forward speed, backward speed, left and right swing amplitude, and output power of the fth AGV at the bth control time point,

[0071] It should be explained that the detection equipment used for the above-mentioned output power is a power sensor, where the left and right swing amplitude refers to the amplitude or angle of the left and right swing of the AGV transport vehicle during operation, which describes the swing range of the AGV transport vehicle in the left and right directions during driving.

[0072] In this embodiment, the power sensor is installed on the output shaft of the motor to measure the output power of the motor, so as to accurately obtain the power output of the transport vehicle.

[0073] VG fb is the ground unevenness of the road surface that the f-th AGV transporter passes through at the b-th control time point, where the ground unevenness refers to the degree of ups and downs or height difference of the ground surface, which describes the unevenness of the ground surface in the horizontal direction, that is, the depressions and ridges on the ground.

[0074] VE f is the number of responses of the battery protection mechanism of the f-th AGV, VA′, VB′, VC′, VD′, VF′, and VG′ are the emergency braking distance limit, forward speed limit, backward speed limit, left and right swing amplitude allowable value, output limit power, and ground unevenness limit of the AGV, respectively. VE′ is the set rated number of responses of the battery protection mechanism. f is the number of each AGV, f = 1, 2, 3, ..., v, where v is the number of AGVs. g is the number of each emergency brake, g = 1, 2, 3, ..., u, where u is the number of emergency brakes. b is the number of each control time point, b = 1, 2, 3, ..., y, where y is the number of control time points. e is a natural constant.

[0075] In a specific embodiment, the present invention determines the operating parameters of the gantry depalletizer, the functional parameters of the AGV transporter, the battery parameters and the operating environment parameters, comprehensively calculates the abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform, and performs autonomous early warning control prompts on the warehouse management information. This can not only reduce the labor cost of warehouse operations, but also improve the handling quality and accuracy of goods, and help to achieve more reasonable and efficient resource allocation.

[0076] The cargo transfer intelligent control module is used to transfer cargo in the carriage through the loading and unloading AGV, analyze the selected evaluation values ​​of each pre-execution channel, and screen the first channel for cargo transfer in the carriage.

[0077] Specifically, the first screening channel is used to transfer cargo in the carriage. The specific analysis process is as follows:

[0078] The selected evaluation values ​​of each pre-execution channel are arranged in order from large to small, thereby screening the first channel for carriage cargo transmission.

[0079] In this embodiment, the purpose of screening the first channel for carriage cargo delivery is to deliver the cargo to the designated location quickly, accurately and efficiently, so as to achieve the operation behavior of intelligent storage of cargo by the intelligent warehousing control platform.

[0080] Furthermore, the evaluation value of each pre-execution channel is selected, and the specific analysis process is as follows:

[0081] Through visual recognition, the vacant storage locations in the pre-library buffer storage area are obtained, and the adaptive control storage locations are selected according to the preset storage location selection mechanism. At the same time, the pre-execution channels are obtained according to the preset path generation algorithm.

[0082] It should be explained that the above-mentioned storage location selection mechanism refers to the straight-line distance between each vacant storage location and the gantry palletizer, so as to select the shortest distance to select the suitable control storage location.

[0083] It is further necessary to explain that the above-mentioned preset path generation algorithm is a value obtained by detection with dedicated equipment.

[0084] Obtain the maximum flatness deviation, maximum curvature value of the curve section, and maximum slope of each pre-execution channel during the operation control cycle; and simultaneously obtain the maximum friction coefficient of each pre-execution channel during historical operation measurements;

[0085] In this embodiment, the ground values ​​of the above-mentioned pre-execution channels also include ground bearing capacity, concrete pressure, ground surface hardness, ground roughness, joint height difference, and conductive ground resistance.

[0086] Extract the smoothness deviation reference value of the execution channel, the curvature limit value of the curve section, the bearing slope and the friction coefficient limit value from the data control library;

[0087] Calculate the selection evaluation value of each pre-execution channel. The calculation formula is:

[0088] Where, τ d is the selected evaluation value of the dth pre-execution channel. In this embodiment, the selected evaluation values ​​of the above-mentioned pre-execution channels, if the ground flatness deviation is too large, may cause the AGV transport vehicle to bump, shake or be unable to maintain stability during the execution channel; if the curvature of the curve section is too large, especially when transporting heavy objects or passing through frequently trafficked curves, it may cause the AGV transport vehicle to run slower in the execution channel, which is not conducive to the AGV transport vehicle's transportation work; if the slope is too large, the AGV transport vehicle may not be able to go uphill or downhill stably, increasing the risk of overturning or sliding; if the friction coefficient is too low, the AGV transport vehicle may not be able to be towed and run well during the execution channel, resulting in slipping, sliding or failure to start, which will affect the AGV transport vehicle's transportation capacity and stability; in summary, the friction coefficient, flatness deviation, ground compressive strength and slope are all factors that need to be considered and managed to ensure the transportation status and safety of the AGV transport vehicle in the execution channel.

[0089] CA d CF d , CG d and CE dThey are respectively the maximum flatness deviation of the d-th pre-execution channel, the maximum curvature value of the curve section, the maximum slope, and the maximum friction coefficient measured in historical operation. It needs to be explained that the curvature of the curve section refers to the curvature characteristics of the curve part on the execution channel. The curvature is used to describe the degree of curvature of the road in the horizontal direction. It can be expressed by the radius of the curve, that is, the degree of curvature of the curve is inversely proportional to the inverse of its radius. The smaller the curvature radius, the greater the curvature of the curve, and the AGV transporter requires greater steering force to pass through the curve; the friction coefficient refers to the characteristic of the friction force provided to the AGV transporter by the execution channel surface. It measures the degree of friction between the execution channel surface and the AGV transporter tires. Generally speaking, the larger the friction coefficient of the AGV transporter on the execution channel, the better, because a higher friction coefficient can provide more traction and braking force, making it easier for the AGV transporter to accelerate, decelerate and turn.

[0090] CA′, CF′, CG′ and CE′ are respectively the reference values ​​of the flatness deviation, the curvature limit value of the curve section, the bearing slope and the friction coefficient limit value of the execution channel; G1, G2, G3 and G4 are respectively the selected correction coefficients corresponding to the set maximum flatness deviation, the maximum curvature value of the curve section, the maximum slope and the maximum friction coefficient measured in the historical operation; d is the number of each pre-execution channel, d = 1, 2, 3, ..., n, where n is the number of pre-execution channels.

[0091] In a specific embodiment, the present invention transfers cargo in the carriage through loading and unloading AGVs, analyzes the flatness, curvature of the curve section, slope and friction coefficient of each pre-execution channel, evaluates the selected evaluation value of each pre-execution channel, and screens the first channel for carriage cargo transfer, providing a more comprehensive data basis for the subsequent comprehensive judgment of the warehouse management information control abnormal values ​​of the intelligent warehouse control platform, and at the same time can improve the accuracy and consistency of warehouse operations.

[0092] The docking compartment information collection and processing module is used to analyze the activation judgment value of the loading and unloading AGV, and the activation judgment value of the loading and unloading AGV is used to collect and pre-process the docking compartment information.

[0093] Specifically, the activation judgment value of the loading and unloading AGV, the specific data acquisition process is as follows:

[0094] The contact line between the boarding bridge and the bottom of the carriage is collected through 3D Sky Eye and recorded as the climbing bridge position reference line. The outer line of the carriage bottom is scanned and the angle between the climbing bridge position reference line and the outer line of the carriage bottom is extracted and recorded as the climbing bridge position offset angle. At the same time, the maximum distance between the first and second lateral positions of the climbing bridge and the corresponding inner side of the vehicle is extracted.

[0095] It should be explained that the first and second lateral directions of the above-mentioned mountain bridge refer to the left side and the right side of the mountain bridge respectively.

[0096] It should be explained that the above-mentioned ramp connection is shown in Figure 4, and the working contents of the digital vehicle support device and the new hydraulic lifting platform involved are as follows:

[0097] The starting point is the receipt of the work order task and the parking of the vehicle in place. The height of the vehicle compartment from the ground is measured through the platform's 3D Sky Eye, and the docking height data information of the boarding bridge is given. The boarding bridge realizes automatic connection between the platform and the compartment, and the trolley automatically lifts and holds the vehicle body beam. After the interactive data of the three are confirmed to be successfully connected through the warehouse control system, the automatic loading and unloading vehicle AGV is called to perform the automatic loading operation task, eliminating the manual operation of manually starting the trolley and the boarding bridge in the front area of ​​the warehouse, and at the same time canceling the difficult and error-prone pre-loading operation of manually confirming whether the connection between the compartment, boarding bridge and platform meets the conditions for the AGV transport vehicle to enter and exit the compartment. The sturdy design of the boarding bridge and connecting bridge allows the AGV transport vehicle to pass smoothly without stopping or slowing down. After the loading and unloading is completed and the vehicle leaves, the boarding bridge and connecting bridge automatically reset. The entire connection process is an automatic drive, automatic confirmation, and complete fitting automated operation closed loop.

[0098] Extract the height difference between the hydraulic lifting platform plane height and the car bottom height, and at the same time extract the damping coefficients of the first and second intelligent in-place damping blocks preset on the platform;

[0099] It should be explained that the above-mentioned pre-installed first and second intelligent in-place damping blocks on the platform refer to a damping block on the left and right sides of the side wall of the platform respectively.

[0100] It should be explained that the above-mentioned damping coefficient is a parameter that describes the efficiency of the damping block in absorbing vibration energy. It refers to the ratio of the energy lost by the system per unit time to the total energy of the vibration system. The damping coefficient is usually expressed as a percentage. The higher it is, the greater the energy loss of the system and the better the damping effect.

[0101] Obtain the minimum angle between the longest extended central axis of the car floor and the outer edge line of the platform, as well as the angle between the longest extended central axis of the car floor and the vertical center line of the climbing bridge; extract the climbing bridge position offset angle limit value, the maximum interval limit length between the first and second lateral positions of the climbing bridge and the corresponding vehicle inner side from the data control library; and calculate the activation judgment value of the loading and unloading AGV based on this.

[0102] In this embodiment, the loading and unloading AGV is mainly used to unload the meter from the vehicle and automatically transport the meter to the vehicle.

[0103] It is further necessary to explain that when the above-mentioned loading and unloading AGV enters the vehicle compartment parked on the platform, the parking accuracy and angle of the vehicle cannot be strictly controlled each time. In order to ensure that the loading and unloading AGV can adapt to different vehicles, different parking angles, and different center line deviations to freely enter and exit the vehicle compartment each time, it is necessary to rely on 3D technology to identify the length, width, net depth, center axis, carriage attitude angle and other dynamic information data of the vehicle compartment after parking, so that the loading and unloading AGV can easily adapt to its different attitude angles and center axis deviations when facing an unfamiliar parking compartment interior environment, and then be able to enter and exit the compartment for automatic loading and unloading operations.

[0104] It should be explained that the numerical parameters of the above-mentioned loading and unloading AGV also include maximum load capacity, fork arm load value, fork arm length, vehicle weight, AGV lifting height, minimum width of AGV right-angle stacking road, unloading accuracy, vertical posture angle of the fork with respect to the target cargo, left and right offset from the center axis of the target cargo, battery life and network delay.

[0105] Furthermore, the specific calculation formula for the activation judgment value of the loading and unloading AGV is:

[0106] in,

[0107] In the formula, β is the activation judgment value of the loading and unloading AGV. It should be explained that, for the activation judgment value of the above-mentioned loading and unloading AGV, if the position offset angle of the climbing bridge is too large, it may cause the loading and unloading AGV to be difficult to dock accurately when entering and exiting the carriage, increasing the difficulty of loading and unloading; if the distance between the side position of the climbing bridge and the inside of the carriage is not appropriate, it may cause the loading and unloading AGV to be difficult to dock to the correct position when entering and exiting the carriage, thereby affecting the accuracy and efficiency of loading and unloading; if there is a difference in the height of the hydraulic lifting platform and the bottom of the carriage, the loading and unloading AGV may face height matching problems when entering and exiting the carriage, increasing the difficulty of loading and unloading. Complexity and risk; if the damping coefficient of the damping block is inappropriate, the impact force between the loading and unloading AGV and the damping block may be too large during the loading and unloading process, causing damage or instability to the loading and unloading AGV and the goods; if the angle is set unreasonably, it may cause the loading and unloading AGV to have difficulty in turning or instability when entering and exiting the carriage, affecting the smooth progress of loading and unloading; in summary, the unreasonable setting of these factors may increase the operating difficulty of the loading and unloading AGV, and affect the accuracy, efficiency and safety of loading and unloading. Therefore, it is necessary to fully consider and reasonably configure these factors to improve the activation level of the loading and unloading AGV.

[0108] β1, β2 and β3 are the activation evaluation values ​​corresponding to the set climbing bridge judgment information, platform judgment information and car floor judgment information respectively, ψ1, ψ2 and ψ3 are the activation weight coefficients corresponding to the set climbing bridge judgment information, platform judgment information and car floor judgment information respectively, B1, B2 and B3 are the activation correction coefficients corresponding to the set climbing bridge judgment information, platform judgment information and car floor judgment information respectively, NA, NB and NC are the climbing bridge position offset angle, the maximum distance length between the first and second lateral directions of the climbing bridge and the corresponding vehicle inner side respectively, NA′, NB′ and NC′ are the climbing bridge position offset angle limit value, the maximum distance limit length between the first and second lateral directions of the climbing bridge and the corresponding vehicle inner side respectively, ND is the hydraulic lifting The height difference between the platform plane height and the car bottom height, NF and NG are the damping coefficients of the first and second intelligent in-place damping blocks preset on the platform respectively, ND′ is the allowable height difference between the set hydraulic lifting platform plane height and the car bottom height, NF′ and NG′ are the damping coefficient limit values ​​of the set first and second intelligent in-place damping blocks preset on the platform respectively, NH is the minimum angle between the longest extended central axis of the car floor and the outer edge line of the platform, NK is the angle between the longest extended central axis of the car floor and the vertical center line of the climbing bridge, NH′ is the minimum reference angle between the set longest extended central axis of the car floor and the outer edge line of the platform, NK′ is the allowable angle between the set longest extended central axis of the car floor and the vertical center line of the climbing bridge, and e is a natural constant.

[0109] In a specific embodiment, the present invention collects and pre-processes the information of the docked carriages, analyzes the degree of matching between the boarding ramp, hydraulic lifting platform and platform and the parked carriages, and evaluates and analyzes the activation judgment value of the loading and unloading AGV. It can not only determine in real time whether the parking position of the carriage meets the docking standards, but also improve the visualization and controllability of the carriage docking operation.

[0110] The second aspect of the present invention provides an automatic loading and unloading equipment, including: an intelligent warehouse control platform, a gantry palletizer, an AGV transporter and a loading and unloading AGV; the intelligent warehouse control platform is used to control the automatic loading and unloading equipment; the gantry palletizer is used to depalletize and stack, and the gantry palletizer exchanges information with the AGV transporter; the AGV transporter is used to receive the cargo transmission instructions of the intelligent warehouse control platform and transport the cargo by screening the first channel; the loading and unloading AGV is used to unload and transport material information from the vehicle to the truck; a pressure sensor is used to obtain the cylinder pressure of each gantry palletizer at each control time point; a sound level meter is used to obtain the operating noise of each gantry palletizer at each control time point; and a power sensor is used to obtain the output power of each AGV transporter at each control time point.

[0111] In a specific embodiment, the present invention provides an automatic loading and unloading warehouse control system and its loading and unloading equipment. First, it performs pre-processing of docked carriage information collection to determine whether the loading and unloading AGV is successfully enabled. Secondly, it screens the first channel for carriage cargo transmission, comprehensively calculates the warehouse management information control abnormal values ​​of the intelligent warehouse control platform, and performs autonomous early warning control prompts on the warehouse management information, which is conducive to the rapid loading and unloading and warehousing operations of goods, and greatly improves the efficiency of intelligent warehousing.

Claims

1. An automatic loading and unloading warehouse control system, characterized in that: include: A docking compartment information collection and processing module is used to analyze the activation judgment value of the loading and unloading AGV, and the activation judgment value of the loading and unloading AGV is used to collect and pre-process the docking compartment information; The cargo transfer intelligent control module is used to transfer cargo to the carriage through the loading and unloading AGV, analyze the selection evaluation value of each pre-execution channel, and screen the first channel for carriage cargo transfer; The warehouse management information comprehensive judgment module is used to comprehensively calculate the warehouse management information control abnormal values ​​of the intelligent warehouse control platform and provide autonomous early warning control prompts for the warehouse management information.

2. The automatic loading and unloading warehouse control system according to claim 1, characterized in that: The specific analysis process of autonomous early warning control prompts for warehouse management information is as follows: The warehouse management information control abnormal value of the intelligent warehouse control platform is compared with the preset warehouse management information control abnormal threshold. If the warehouse management information control abnormal value of the intelligent warehouse control platform is higher than the preset warehouse management information control abnormal threshold, the warehouse management information will be given an autonomous early warning control prompt.

3. The automatic loading and unloading warehouse control system according to claim 1, characterized in that: The warehouse management information control abnormal value of the intelligent warehouse control platform is calculated as follows: Where δ is the abnormal value of the warehouse management information control of the intelligent warehouse control platform, α1 is the operating status evaluation coefficient of the gantry depalletizer, α2 is the handling scheduling evaluation coefficient of the AGV transporter, Φ1 and Φ2 are the execution weight factors corresponding to the set operating status evaluation coefficient and handling scheduling evaluation coefficient, respectively, and e is a natural constant.

4. The automatic loading and unloading warehouse control system according to claim 3, characterized in that: The specific analysis process of the operating status evaluation coefficient of the gantry palletizer is as follows: Deploy the set operation control cycle to each control time point and obtain the operating parameters of each gantry palletizer, including the servo motor speed, cylinder pressure and operating noise at each control time point; At the same time, the depalletizing time corresponding to each operation of each gantry depalletizing crane within the set operation control cycle is counted; Extract the servo motor reference speed, cylinder reference pressure, operating noise limit value and depalletizing permission time of the gantry depalletizer from the data control library; Calculate the operating status evaluation coefficient of the gantry palletizer and depalletizer using the following formula: in, Where α1 is the operating status evaluation coefficient of the gantry depalletizer, ω1 and ω2 are the operating evaluation values ​​corresponding to the set equipment performance and depalletizing operation, A1 and A2 are the operating evaluation weight coefficients corresponding to the set equipment performance and depalletizing operation, ξ1 and ξ2 are the operating evaluation correction coefficients corresponding to the set equipment performance and depalletizing operation, MZ ab MY ab and MS ab are the servo motor speed, cylinder pressure and operating noise of the a-th gantry palletizer at the b-th control time point, MZ′, MY′ and MS′ are the servo motor reference speed, cylinder reference pressure and operating noise limit values ​​of the gantry palletizer, respectively. ac is the depalletizing time corresponding to the cth operation of the ath gantry depalletizer, MC′ is the permitted depalletizing time of the gantry depalletizer, a is the number of each gantry depalletizer, a=1,2,3,...,z, z is the number of gantry depalletizers, b is the number of each control time point, b=1,2,3,...,y, y is the number of control time points, c is the number of each operation, c=1,2,3,...,x, x is the number of operations, and e is a natural constant.

5. The automatic loading and unloading warehouse control system according to claim 3, characterized in that: The specific analysis process of the AGV transport vehicle's handling scheduling evaluation coefficient is as follows: Collect and obtain the functional parameters, battery parameters and operating environment parameters of each AGV transporter; Functional parameters include the emergency braking distance corresponding to each emergency braking within the operation control cycle, as well as the forward speed, reverse speed and left and right swing amplitude at each control time point; Battery parameters include the number of times the battery protection mechanism responds during the operation control cycle and the output power at each control time point; The operating environment parameters include the ground unevenness of the road surface that each AGV transport vehicle passes through at each control time point; Extract the AGV's emergency braking and sliding distance, forward speed limit, backward speed limit, left and right swing amplitude allowable value, output power limit, and ground unevenness limit from the data control library; Calculate the handling scheduling evaluation coefficient of the AGV transporter. The calculation formula is: in, Where α2 is the handling scheduling evaluation coefficient of the AGV transporter, σ1, σ2 and σ3 are the scheduling evaluation values ​​corresponding to the set functional parameters, battery parameters and operating environment parameters respectively, and F1, F2 and F3 are the scheduling weight coefficients corresponding to the set functional parameters, battery parameters and operating environment parameters respectively. and They are the scheduling correction coefficients corresponding to the set functional parameters, battery parameters and operating environment parameters, VA fg VB is the sliding distance of the f-th AGV corresponding to the g-th emergency brake, fb VC fb 、VD fb and VF fb are the forward speed, backward speed, left and right swing amplitude and output power of the fth AGV at the bth control time point, VG fb is the ground unevenness difference of the road surface that the f-th AGV transport vehicle passes at the b-th control time point, VE f is the number of responses of the battery protection mechanism of the f-th AGV, VA′, VB′, VC′, VD′, VF′, and VG′ are the emergency braking distance limit, forward speed limit, backward speed limit, left and right swing amplitude allowable value, output limit power, and ground unevenness limit of the AGV, respectively. VE′ is the set rated number of responses of the battery protection mechanism. f is the number of each AGV, f = 1, 2, 3, ..., v, where v is the number of AGVs. g is the number of each emergency brake, g = 1, 2, 3, ..., u, where u is the number of emergency brakes. b is the number of each control time point, b = 1, 2, 3, ..., y, where y is the number of control time points. e is a natural constant.

6. The automatic loading and unloading warehouse control system according to claim 1, characterized in that: The first screening channel is used for carriage cargo delivery. The specific analysis process is: the selected evaluation values ​​of each pre-execution channel are arranged in order from large to small, thereby screening the first screening channel for carriage cargo delivery.

7. The automatic loading and unloading warehouse control system according to claim 6, characterized in that: The specific analysis process of selecting the evaluation value of each pre-execution channel is as follows: Through visual recognition, the system obtains each vacant storage location in the buffer storage area in front of the warehouse, selects the adaptive control storage location according to the preset storage location selection mechanism, and obtains each pre-execution channel according to the preset path generation algorithm; obtains the maximum flatness deviation, maximum curvature value of the curve section, and maximum slope of each pre-execution channel during the operation control cycle; At the same time, the maximum friction coefficient determined by historical operation of each pre-execution channel is obtained; Extract the smoothness deviation reference value of the execution channel, the curvature limit value of the curve section, the bearing slope and the friction coefficient limit value from the data control library; Calculate the selection evaluation value of each pre-execution channel. The calculation formula is: Where, τ d is the selected evaluation value of the d-th pre-execution channel, CA d CF d , CG d and CE d are the maximum flatness deviation, maximum curvature value of the curve section, maximum slope and maximum friction coefficient measured in the historical operation of the d-th pre-execution channel, CA′, CF′, CG′ and CE′ are the flatness deviation reference value, curve section curvature limit value, bearing slope and friction coefficient limit value of the execution channel, G1, G2, G3 and G4 are the selected correction coefficients corresponding to the set maximum flatness deviation, maximum curvature value of the curve section, maximum slope and maximum friction coefficient measured in the historical operation, d is the number of each pre-execution channel, d = 1, 2, 3, ..., n, n is the number of pre-execution channels.

8. The automatic loading and unloading warehouse control system according to claim 1, characterized in that: The specific data acquisition process of the activation judgment value of the loading and unloading AGV is as follows: The contact line between the boarding bridge and the bottom of the carriage is collected through 3D Sky Eye and recorded as the climbing bridge position reference line. The outer line of the carriage bottom is scanned and the angle between the climbing bridge position reference line and the outer line of the carriage bottom is extracted and recorded as the climbing bridge position offset angle. At the same time, the maximum distance between the first and second lateral positions of the climbing bridge and the corresponding inner side of the vehicle is extracted. Extract the height difference between the hydraulic lifting platform plane height and the car bottom height, and at the same time extract the damping coefficients of the first and second intelligent in-place damping blocks preset on the platform; Obtain the minimum angle between the longest extended center axis of the carriage floor and the outer edge line of the platform, as well as the angle between the longest extended center axis of the carriage floor and the vertical center line of the mountain bridge; Extracting from the data control database the defined value of the position offset angle of the climbing bridge and the defined length of the maximum distance between the first and second lateral positions of the climbing bridge and the inner side of the corresponding vehicle; The activation determination value of the loading and unloading AGV is calculated based on this.

9. The automatic loading and unloading warehouse control system according to claim 8, characterized in that: The specific calculation formula for the activation judgment value of the loading and unloading AGV is: in, In the formula, β is the activation judgment value of the loading and unloading AGV, β1, β2 and β3 are the activation evaluation values ​​corresponding to the set climbing bridge judgment information, platform judgment information and car floor judgment information respectively, ψ1, ψ2 and ψ3 are the activation weight coefficients corresponding to the set climbing bridge judgment information, platform judgment information and car floor judgment information respectively, B1, B2 and B3 are the activation correction coefficients corresponding to the set climbing bridge judgment information, platform judgment information and car floor judgment information respectively, NA, NB and NC are the climbing bridge position offset angle, the maximum distance length between the first and second lateral directions of the climbing bridge and the corresponding vehicle inner side respectively, NA′, NB′ and NC′ are the climbing bridge position offset angle limit value, the maximum distance limit length between the first and second lateral directions of the climbing bridge and the corresponding vehicle inner side respectively degrees, ND is the height difference between the plane height of the hydraulic lifting platform and the height of the bottom of the car, NF and NG are the damping coefficients of the first and second intelligent in-place damping blocks preset on the platform respectively, ND′ is the allowable height difference between the set plane height of the hydraulic lifting platform and the height of the bottom of the car, NF′ and NG′ are the damping coefficient limit values ​​of the set first and second intelligent in-place damping blocks preset on the platform respectively, NH is the minimum angle between the longest extended central axis of the car floor and the outer edge line of the platform, NK is the angle between the longest extended central axis of the car floor and the vertical center line of the climbing bridge, NH′ is the minimum reference angle between the set longest extended central axis of the car floor and the outer edge line of the platform, NK′ is the allowable angle between the set longest extended central axis of the car floor and the vertical center line of the climbing bridge, and e is a natural constant.

10. An automatic loading and unloading equipment, characterized by: include: Intelligent warehouse control platform, gantry palletizer, AGV transporter and loading and unloading AGV; The intelligent warehouse control platform is used to control automatic loading and unloading equipment; The gantry palletizer is used for palletizing and stacking, and the gantry palletizer exchanges information with the AGV transport vehicle; The AGV transport vehicle is used to receive cargo transfer instructions from the intelligent warehouse control platform and transport cargo by screening the first channel; The loading and unloading AGV is used to unload and transport material information from the vehicle to the truck; Pressure sensor, used to obtain the cylinder pressure of each gantry palletizer at each control time point; Sound level meter, used to obtain the operating noise of each gantry palletizer at each control time point; The power sensor is used to obtain the output power of each AGV at each control time point.

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