Scheduling control method for multiple four-way shuttles running on the same floor

Abstract

The method for dispatching and controlling a plurality of four-way shuttle vehicles running on the same floor comprises the following steps: step 1, the main track is directional, and the four-way shuttle vehicle is only allowed to run in one direction, clockwise or counterclockwise; step 2, the storage lane is not directional, and the four-way shuttle vehicle is allowed to run in two directions, but at most only one four-way shuttle vehicle is allowed to run or operate; step 3, buffer operation is adopted at the intersection of the tracks, and the vehicle needs to stop in advance to obtain the right of way before passing through the intersection; step 4, when the four-way shuttle vehicle runs on the main track, the right of way of the road section is locked, and during the locking period, other four-way shuttle vehicles are not allowed to run on the road section with the locked right of way; the method has the characteristics of no collision and path deadlock, and smooth operation.

Description

Technical Field

[0001] The invention belongs to the field of pattern recognition and intelligent systems, and in particular relates to a dispatching control method for a plurality of four-way shuttle vehicles running on the same floor. Background Art

[0002] The four-way shuttle automated storage system equipment includes four-way shuttles, vertical elevators, conveyors and matching shelves. From the perspective of geometric structure, the system shelves are divided into multiple layers, and the storage locations in the layers are densely arranged and connected by shelf tracks to form storage lanes. (See Figure 1 ) The tracks are parallel or perpendicular to each other, and the tracks that intersect within the layer are perpendicular to each other. The storage lane tracks are parallel to each other, densely arranged, and connected by the main track. The main tracks within the shelf layer are interconnected to form a main track network. The vertical elevator connects the main track network of each shelf layer to form the main transportation network of the system. The storage lane tracks are connected to the shelf main transportation network by overlapping the main track.

[0003] The four-way shuttle is the core equipment of the system. It is responsible for storing and retrieving materials in the cargo racks. It has high flexibility and can change the rack layer through the vertical lift, run along the track in the rack layer, and stop at any position for operation. Usually, there are multiple four-way shuttles in a single rack layer, and the four-way shuttles need to be routed and controlled to ensure that there is no collision or path deadlock between the four-way shuttles.

[0004] Existing technologies mostly use zoning management and four-way vehicle obstacle avoidance to divide a single shelf into zones, and limit the number of four-way vehicles running in a single zone to 1 or 2. This method limits the number of four-way vehicles in a single shelf layer, especially when the shelf layer is small, it cannot accommodate multiple four-way vehicles running at the same time. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a scheduling and control method for multiple four-way shuttles running on the same floor. Under the condition of running multiple four-way shuttles in a single shelf layer, the paths and tasks of the four-way shuttles are scheduled to ensure the smooth operation of the system; the smooth operation of multiple shuttles in a single shelf layer is achieved, with the characteristics of no collision and path deadlock, and smooth operation.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a dispatching control method for multiple four-way shuttle vehicles running on the same floor, comprising the following steps:

[0007] Step 1: The main track is oriented to allow the four-way shuttle to run in one direction only, either clockwise or counterclockwise.

[0008] Step 2: The storage lane is non-directional, and the four-way shuttle is allowed to run in both directions, but only one four-way shuttle is allowed to run or operate at most;

[0009] Step 3: Buffer operation is adopted at the track intersection, and the vehicle needs to stop in advance to obtain the right of way before passing the intersection;

[0010] Step 4: When the four-way shuttle runs on the main track, the road section right of way is locked. During the locking period, other four-way shuttles are not allowed to run on the road section with locked road rights.

[0011] The specific method of step 1 is as follows: the main track is oriented, and the orientation directions of the interconnected main tracks must be self-consistent. The main tracks forming a circle or ring are oriented clockwise or counterclockwise to avoid dead ends. The four-way shuttle can only run in the predetermined direction of the track on the main track to avoid the four-way shuttle path deadlock caused by different running directions of multiple four-way shuttles on the main track.

[0012] The specific method of step 2 is as follows: the storage lane is non-directional, and the four-way shuttle can run in both directions along the track in the storage lane, but at most one four-way shuttle can run in the storage lane at the same time. If other four-way shuttles need to enter the storage lane, they need to wait outside the lane at a non-lane entrance until there are no four-way shuttles in the storage lane.

[0013] The specific method of step 3 is as follows: when the path of the four-way shuttle passes through the track intersection, it slows down in advance and stops at a position before the track intersection; after stopping, it obtains the right of way of the track intersection at the new position; if the right of way is obtained, it passes through the track intersection and continues to run along the planned path; if the right of way is not obtained, it waits at the new position and continuously applies for the right of way until the right of way is obtained and then continues to run.

[0014] The specific method of step 4 is as follows: when the four-way shuttle is running on the main track, since multiple four-way shuttles can run on the main track at the same time, it is necessary to apply for road rights according to the road rights occupied by other four-way shuttles. If other four-way shuttles are running in the same direction as the current four-way shuttle, the current four-way shuttle can apply for road rights for the section from the current position to the rear of other four-way shuttles; if other four-way shuttles are running in opposite directions to the current four-way shuttle, the current four-way shuttle can apply for road rights for the section from the current position to the front of the target position of other four-way shuttles.

[0015] The beneficial effects of the present invention are:

[0016] The present invention performs path planning and traffic control for the operation of multiple four-way vehicles on a single shelf layer, and the number of four-way vehicles on a single layer is not limited. The method adopted by the present invention has no limit on the number of four-way vehicles on a single shelf layer, and there is no need to perform zoning management on the shelf layer. The system is highly flexible, and multiple four-way vehicles can be concentrated in a certain area on the shelf layer for operation, with high operating efficiency.

[0017] In a four-way shuttle automated storage system, when multiple four-way shuttles are running on the same level, it is necessary to coordinate and control the four-way shuttles to avoid collision or path deadlock. The dispatching control method of the present invention can ensure that multiple four-way shuttles can run smoothly on the same shelf level, while avoiding path conflicts. Each four-way shuttle performs the task of storing and retrieving goods in the shelf according to the rules. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the shelf structure of the four-way shuttle automated storage system.

[0019] Figure 2 (a) shows the clockwise orientation diagram of the shelf main track orientation strategy of the four-way shuttle automated warehousing system.

[0020] Figure 2 (b) shows the counterclockwise orientation diagram of the shelf main track orientation strategy of the four-way shuttle automated warehousing system.

[0021] FIG3 (a) shows a schematic diagram of the non-directional storage lane in which the non-directional four-way shuttle runs.

[0022] Figure 3 (b) is a schematic diagram showing that only one four-way shuttle can run in the storage lane, and the other four-way shuttles are waiting outside the lane.

[0023] Figure 4 (a) is a schematic diagram of a four-way shuttle vehicle stopping to apply for right of way before arriving at a track intersection.

[0024] Figure 4 (b) is a schematic diagram of a four-way shuttle vehicle applying for the right of way at a track intersection and running along a predetermined path.

[0025] Figure 4 (c) is a schematic diagram of the four-way shuttle vehicle waiting because it has not applied for the right of way at the track intersection (other four-way shuttle vehicles occupy the track intersection and go straight).

[0026] Figure 4 (d) is a schematic diagram of the four-way shuttle vehicle waiting because it has not applied for the right of way at the track intersection (other four-way shuttle vehicles occupy the track intersection for turning).

[0027] FIG5 (a) is a schematic diagram showing a four-way shuttle vehicle applying for the right of way of the main track when the four-way shuttle vehicle is running on the main track and other four-way shuttle vehicles are running in the same direction.

[0028] FIG5( b ) is a schematic diagram showing a four-way shuttle vehicle applying for the right of way of the main track when the four-way shuttle vehicle is running on the main track and other four-way shuttle vehicles are running in the opposite direction. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0030] Step 1: The main track is oriented, allowing only one-way operation of the four-way shuttle;

[0031] The specific steps of step 1 are: the main track is oriented, and the orientation directions of the interconnected main tracks must be self-consistent. The main tracks that form a circle or ring are oriented clockwise or counterclockwise to avoid dead ends. The four-way shuttle can only run in the predetermined direction of the track on the main track to avoid multiple four-way shuttles on the main track running in different directions, resulting in a deadlock in the four-way shuttle path;

[0032] Step 2: The storage lane is non-directional, and the four-way shuttle is allowed to run in both directions, but only one four-way shuttle is allowed to run or operate at most;

[0033] The specific method of step 2 is: the storage lane is non-directional, and the four-way shuttle can run in both directions along the track in the storage lane, but at most one four-way shuttle can run in the storage lane at the same time. If other four-way shuttles need to enter the storage lane, they need to wait outside the lane at a non-lane entrance until there are no four-way shuttles in the storage lane before entering;

[0034] Step 3: Buffer operation is adopted at the track intersection, and the vehicle needs to stop in advance to obtain the right of way before passing the intersection;

[0035] The specific steps of step 3 are as follows: When the path of the four-way shuttle passes through the track intersection, it slows down in advance and stops at the position before the track intersection. After stopping, it obtains the right of way of the track intersection at the new position. If the right of way is obtained, it passes through the track intersection and continues to run along the planned path. If the right of way is not obtained, it waits at the new position and continuously applies for the right of way until it obtains the right of way and continues to run;

[0036] Step 4: When the four-way shuttle runs on the main track, the road section right of way is locked. During the locking period, other four-way shuttles are not allowed to run on the road section with locked road rights;

[0037] The specific procedure of step 4 is: when the four-way shuttle is running on the main track, since multiple four-way shuttles can run on the main track at the same time, it is necessary to apply for the right of way according to the road right occupation of other four-way shuttles; if other four-way shuttles are running in the same direction as the current four-way shuttle, the current four-way shuttle can apply for the right of way for the section from the current position to the rear of the other four-way shuttle; if other four-way shuttles are running in the opposite direction to the current four-way shuttle, the current four-way shuttle can apply for the right of way for the section from the current position to the front of the target position of the other four-way shuttle.

[0038] Referring to FIG2 , the shelf main track orientation strategy of the four-way shuttle automated warehousing system is given. FIG2 (a) is a clockwise orientation, and FIG2 (b) is a counterclockwise orientation.

[0039] Refer to Figure 3 (a), which shows a schematic diagram of the non-directional storage lane in the running direction of the non-directional four-way shuttle in the storage lane, that is, in the storage lane, the four-way shuttle can travel from bottom to top or from top to bottom; Figure 3 (b) shows a schematic diagram of the storage lane where only one four-way shuttle can run and the other four-way shuttles are waiting outside the lane, that is, when car 1 is driving in the storage lane, car 2 needs to wait outside the storage lane until car 1 leaves the storage lane, and car 2 can enter the storage lane along the planned path.

[0040] Referring to FIG4 (a), a schematic diagram of the four-way shuttle vehicle before arriving at the track intersection is given. Specifically, FIG4 (a) shows that the four-way shuttle vehicle stops before the track intersection to apply for the right of way; FIG4 (b) shows that the four-way shuttle vehicle applies for the right of way at the track intersection and runs along the predetermined path; FIG4 (c) shows that the four-way shuttle vehicle does not apply for the right of way at the track intersection (other four-way shuttle vehicles occupy the track intersection and go straight), vehicle 2 obtains the right of way and passes directly (turns), vehicle 1 has no right of way and waits, the dotted arrow indicates that there is no right of way and needs to wait, and the straight arrow indicates that there is right of way and can pass; FIG4 (d) shows that the four-way shuttle vehicle does not apply for the right of way at the track intersection (other four-way shuttle vehicles occupy the track intersection and turn), and waits, vehicle 2 obtains the right of way. Passes directly (goes straight), vehicle 1 has no right of way and needs to wait, and the dotted arrow indicates that there is no right of way and needs to wait.

[0041] See Figure 5 (a), which shows a schematic diagram of a four-way shuttle applying for the right of way on the main track when the four-way shuttle runs on the main track and other four-way shuttles run in the same direction. The dotted box is the end point of the path for the four-way shuttle to obtain the right of way. Car 2 runs in the same direction as car 1, and car 1 can apply for the right of way from the current position to the rear position of car 2. Figure 5 (b) shows a schematic diagram of a four-way shuttle applying for the right of way on the main track when the four-way shuttle runs on the main track and other four-way shuttles run in the opposite direction. Car 2 runs in the opposite direction of car 1, and car 1 can apply for the right of way from the current position to the position in front of the target position of car 2.

Claims

1. A dispatching control method for multiple four-way shuttle vehicles running on the same floor, characterized in that: The following steps are involved: Step 1: The main track is oriented to allow the four-way shuttle to run in one direction only, either clockwise or counterclockwise. The specific method of step 1 is as follows: the main track is oriented, and the orientation directions of the interconnected main tracks must be self-consistent. The main tracks forming a circle or ring are oriented clockwise or counterclockwise to avoid dead ends. The four-way shuttle can only run in the predetermined direction of the track on the main track to avoid the running directions of multiple four-way shuttles on the main track being different, resulting in a deadlock in the path of the four-way shuttle; Step 2: The storage lane is non-directional, and the four-way shuttle is allowed to run in both directions, but only one four-way shuttle is allowed to run or operate at most; The specific method of step 2 is as follows: the storage lane is non-directional, and the four-way shuttle can run in both directions along the track in the storage lane, but at most one four-way shuttle can run in the storage lane at the same time. If other four-way shuttles need to enter the storage lane, they need to wait outside the lane at a non-lane entrance until there are no four-way shuttles in the storage lane. Step 3: Buffer operation is adopted at the track intersection, and the vehicle needs to stop in advance to obtain the right of way before passing the intersection; The specific method of step 3 is as follows: when the path of the four-way shuttle passes through the track intersection, it decelerates in advance and stops at a position before the track intersection; after stopping, it obtains the right of way of the track intersection at the new position; if the right of way is obtained, it passes through the track intersection and continues to run along the planned path; if the right of way is not obtained, it waits at the new position and continuously applies for the right of way until it obtains the right of way and continues to run; Step 4: When the four-way shuttle runs on the main track, the road section right of way is locked. During the locking period, other four-way shuttles are not allowed to run on the road section with locked road rights; The specific method of step 4 is as follows: when the four-way shuttle is running on the main track, since multiple four-way shuttles can run on the main track at the same time, it is necessary to apply for right of way according to the right of way occupied by other four-way shuttles; if other four-way shuttles run in the same direction as the current four-way shuttle, the current four-way shuttle can apply for right of way for the section from the current position to the rear of the other four-way shuttle; if other four-way shuttles run in the opposite direction to the current four-way shuttle, the current four-way shuttle can apply for right of way for the section from the current position to the front of the target position of the other four-way shuttle.

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