An automated warehouse control and management system and management method

Abstract

An automated warehouse control and management system and method are disclosed, comprising a ruggedized computer, the output of which is connected to a shuttle motor driver, a lifting device driver, and a lifting motor contactor of a lifting mechanism, respectively. The outputs of the shuttle motor driver, the lifting device driver, and the lifting motor contactor are connected to the shuttle motor, the lifting device motor, and the lifting motor, respectively. Photoelectric encoders are installed on both the shuttle motor and the lifting device motor. The photoelectric encoders transmit the operating parameters of the motors to the shuttle motor driver and the lifting device driver, respectively, and the drivers feed the parameters back to the ruggedized computer. This invention addresses the challenges of shipboard environments with their inherent tilting and swaying characteristics and complex electromagnetic environments, which place high demands on the speed and position control of the moving equipment. The invention ensures the system has excellent tracking accuracy and achieves stable control of the moving equipment.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing technology, specifically to an automated warehousing control and management system and management method. Background Technology

[0002] Automated storage technology can save horizontal area and has a high vertical space utilization rate, and is widely used in fields such as automated parking garages and automated warehouses. Intelligent warehousing technology has the characteristics of system management, quality analysis of stored materials, route planning and automatic storage and retrieval, which improves space utilization, improves the storage environment, speeds up work efficiency and reduces maintenance costs. Therefore, research on intelligent warehousing has received increasing attention both at home and abroad.

[0003] However, the use of intelligent warehousing technology in the ship environment is greatly limited by the ship's own tilting and rolling, and the complex electromagnetic environment of the ship. Marine warehousing has higher requirements for the speed control, position control and operational reliability of operating equipment. At present, most marine warehousing still adopts traditional manual airborne transfer technology. The level of generalization, automation and intelligence of transfer equipment is still relatively low, and the management of warehousing material information is still relatively complicated. Summary of the Invention

[0004] The technical problem this invention aims to solve is that the application of intelligent warehousing technology in a shipboard environment is greatly limited by factors such as the ship's own tilting and rolling, and the complex electromagnetic environment of the ship. Marine warehousing places higher demands on the speed control, position control, and operational reliability of operating equipment. Currently, most marine warehousing still relies on traditional manual airborne transfer technology, and the level of standardization, automation, and intelligence of transfer equipment is relatively low. Furthermore, the management of warehousing material information remains complex. To address these problems, this invention provides an automated warehousing control and management system and its method.

[0005] The object of this invention is achieved in the following manner:

[0006] An automated warehouse control and management system includes a guide storage rack, a shuttle car, and a lifting device for storing storage containers. The guide storage rack is a multi-layered, multi-row storage base. A shuttle car is installed on the guide storage rack to enable horizontal transfer of storage containers on each layer. The shuttle car includes a shuttle car motor, and a lifting mechanism and a lifting motor are located on the top of the shuttle car. The lifting device is located at both ends of the guide storage rack to enable vertical transfer and retrieval of storage containers between layers. The lifting device includes a lifting device motor. The control and management system includes a ruggedized computer, the output of which is connected to a shuttle car motor driver, a lifting device driver, and the lifting mechanism, respectively. The components are connected to the lifting motor contactor. The outputs of the shuttle car travel motor driver, the lifting device driver, and the lifting motor contactor are respectively connected to the shuttle car travel motor, the lifting device motor, and the lifting motor. Photoelectric encoders are installed on both the shuttle car travel motor and the lifting device motor. The photoelectric encoders transmit the operating parameters of the travel motor and the lifting device motor to the shuttle car travel motor driver and the lifting device driver, respectively. The drivers feed the parameters back to the ruggedized computer. The ruggedized computer calculates the operating speed of the shuttle car motor, the lifting device motor, and the lifting motor according to the servo control algorithm and sends speed commands to the shuttle car motor driver, the lifting device driver, and the lifting motor driver.

[0007] The control and management system also includes a limit switch and sensor module for collecting status information during the operation of the shuttle car, the lifting device, and the jacking mechanism. The limit switch and sensor module includes lifting limit switches installed at the top and bottom of the lifting device, a jacking mechanism lifting position switch installed in the middle of the shuttle car body, a photoelectric sensor for detecting the presence or absence of storage containers, horizontal limit switches at the front and rear ends of the bottom of the shuttle car, and photoelectric sensors for detecting storage container collisions at the front and rear of the shuttle car.

[0008] The ruggedized computer includes a CPU processing module, a power supply module connected to the CPU processing module via a CPCI bus, a CAN bus module, a DIO input / output module, and a network module. The CPU processing module communicates with a host computer via the network module, receives control commands from the host central computer's inventory management computer through the network module, and feeds back the command execution status and various statuses of the shuttle, lifting device, and jacking mechanism in the automated warehouse to the host computer. The power supply module provides DC power to other modules, and the DIO input / output module provides 80 digital inputs, 40 digital outputs, or TTL outputs. The CAN bus module mainly completes the communication between the CPU processing module and the photoelectric encoder information on the shuttle's traveling motor and the lifting device's motor. The control unit sends speed control commands to the traveling and lifting devices through the CAN bus module, and the traveling and lifting devices can simultaneously feed back the current encoder information to the control unit in real time.

[0009] The control and management system also includes a WIFI module and a handheld operating terminal that are connected to the ruggedized computer. The handheld operating terminal is connected to the ruggedized computer via the WIFI module.

[0010] The servo control algorithm uses a variable structure algorithm based on the magnitude of the position feedback deviation. When the deviation is large, the variable structure controller in the variable structure algorithm employs time-optimal control, with the system starting and braking at maximum acceleration and moving at maximum speed—that is, nonlinear control—to achieve a fast system response. When the deviation is small, PID control combined with feedforward control is used. The controller algorithm is shown in the following equation:

[0011]

[0012] Where e(n) represents the misalignment angle, F e K represents the switching quantity. nl K vf K af K p K i K d These are the controller adjustment parameters, where u(n) represents the speed control quantity and r(n) represents the equipment operation control input.

[0013] To ensure stable equipment operation, an improved S-curve will be used in the starting and braking sections, while uniform speed operation will be used in the intermediate section to avoid system oscillation and overshoot caused by direct large step input. Since the equipment travel distance is known, the travel distance will be used to generate a position curve, and this curve will be used as the input r(n) for the algorithm.

[0014] The steps to generate the S-curve are as follows:

[0015] a) Given a constant speed and acceleration time;

[0016] b) When fitting the speed curve, the inertia of the vehicle body and storage vehicle and the friction between the wheels and the track were taken into account. An improved S-curve was used for speed fitting to generate speed curves for the starting and braking phases.

[0017] The shuttle's gross weight is M. Before transporting the storage container, the container is weighed and the weight is M0. V is the speed of the moving equipment when unloaded, V' is the speed of the moving equipment when loaded, and k is the coefficient relating the two speed values. The value of k can be obtained experimentally. Then: In this system, the value of k is 1, and k is related to the material of the wheel and the material of the track.

[0018] c) Use the S-curve to fit the speed and generate the speed curves for the starting and braking phases;

[0019] d) Integrate the speeds during the starting and braking phases to generate position curves;

[0020] e) Fill the middle segment with a constant travel speed to generate the running time and position curve of that segment;

[0021] f) Generate the overall position curve.

[0022] A management method for the automated warehouse control and management system described above, the management method comprising:

[0023] a) Clicking on the storage device to be taken out of a certain layer of guide storage rack on the interface of the host computer, i.e. the inventory management computer, will trigger the system to perform a self-check and complete initialization;

[0024] b) The ruggedized computer collects status information from the limit switches, sensor modules and motor photoelectric encoders through the DIO input / output module and CAN bus module. The handheld operating terminal communicates with the ruggedized computer through the WiFi module and feeds back the operating status of the shuttle to the handheld operating terminal and the host computer. If a fault exists, a fault alarm is triggered, and the fault name is displayed on the host computer and the mobile terminal.

[0025] c) The photoelectric encoder installed on the horizontal walking motor of the shuttle car transmits the motor operation parameters to the horizontal walking motor driver, and then feeds them back to the control and rugged computer in real time via the CAN communication module. The control and rugged computer calculates the given speed of the shuttle car through a servo control algorithm based on a combination of variable structure and S-curve acceleration and deceleration, and sends the speed command to the shuttle car through the CAN communication module. When the rugged computer controls the shuttle car to travel to the designated position, the shuttle car stops moving.

[0026] d) Two photoelectric sensors on the top of the shuttle car detect whether there is a storage device on the top of the car body. If there is no storage device, the shuttle car alarms and returns to the initial position. If there is a storage device, the reinforcement computer controls the lifting motor contactor to close through the DO module, and the shuttle car lifting motor runs, driving the lifting mechanism to lift the storage device. The lifting ends after touching the lifting position switch.

[0027] e) If the lifting device is not parallel to the guide storage rack on that floor, i.e., the lifting device does not stop at that floor, the ruggedized computer controls the lifting device to move vertically to that floor. The photoelectric encoder installed on the lifting motor transmits the motor operation parameters to the lifting device motor driver, and then feeds them back to the control ruggedized computer in real time via the CAN communication module. The control ruggedized computer calculates the given speed of the lifting motor using a servo control algorithm based on a combination of variable structure and S-curve acceleration and deceleration, and sends speed commands to the lifting motor via the CAN communication module. When the ruggedized computer controls the lifting device to travel to the designated position, the lifting device stops. When the lifting device travels to that floor, the lifting device guide rail is aligned with the shuttle guide rail. The shuttle car carrying the storage device travels along the guide rail to the lifting device and places the storage device on the lifting device. The shuttle car lifts the motor to place the storage device on the lifting device, and the shuttle car returns to the initial position.

[0028] f) Complete the outbound action.

[0029] The beneficial effects of this invention are as follows: Compared with the prior art, this invention addresses the challenges of shipboard environments with their inherent tilting and swaying, as well as complex electromagnetic environments, which place high demands on the speed and position control of the moving equipment. The servo control algorithm in the shuttle's speed regulation system employs a combination of variable structure and improved S-curve acceleration / deceleration. This algorithm integrates the advantages of nonlinear and linear control, taking into account the weight and load of the shuttle and lifting device. This ensures both the system's speed and good tracking accuracy, enabling smooth control of the moving equipment. Attached Figure Description

[0030] Figure 1 This is a system framework diagram.

[0031] Figure 2 It is a diagram of a hardened computer framework.

[0032] Figure 3 This is the schematic diagram of a variable structure controller.

[0033] Figure 4 This is an example diagram of the velocity curve.

[0034] Figure 5 This is a schematic diagram of the position curve.

[0035] Figure 6 This is a schematic diagram of the servo controller structure.

[0036] Figure 7 This is a schematic diagram showing the arrangement of the guide storage rack, shuttle, and lifting device of the present invention. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0038] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0039] like Figure 7 As shown, an automated warehouse control and management system includes a guide storage rack 1, shuttle cars 2, and a lifting device 3 for storing storage containers 4. The guide storage rack 1 is a multi-layered, multi-row storage base. Shuttle cars 2 are installed on the guide storage rack 1 to enable horizontal transfer of storage containers 4 on each layer of the guide storage rack 1. Preferably, the shuttle cars 2 are used in pairs, with both shuttle cars on both sides of the guide storage rack operating synchronously during use. Each shuttle car 2 includes a shuttle car travel motor 5, and a lifting mechanism and lifting motor 6 are provided on the top of the shuttle car. During use, the lifting motors on both sides of the guide storage rack operate synchronously. The lifting device 3 is located at both ends of the guide storage rack 1, and is equipped with a lifting platform and guide rails for vertical transfer and retrieval of storage containers 4 between layers. The lifting device 3 includes a lifting device motor 7. Figure 1 As shown, the control and management system includes a ruggedized computer 8. The output of the ruggedized computer is connected to the shuttle motor driver, the lifting device driver, and the lifting motor contactor of the lifting mechanism, respectively. The outputs of the shuttle motor driver, the lifting device driver, and the lifting motor contactor are connected to the shuttle motor 5, the lifting device motor 7, and the lifting motor 6, respectively. Photoelectric encoders are installed on both the shuttle motor and the lifting device motor. The photoelectric encoders are connected to the shuttle motor driver and the lifting device driver, respectively. The photoelectric encoders transmit the operating parameters of the motor and the lifting device motor to the shuttle motor driver and the lifting device driver, respectively. The driver feeds back the parameters to the ruggedized computer. The ruggedized computer calculates the operating speed of the shuttle motor, the lifting device motor, and the shuttle lifting motor according to the servo control algorithm and sends speed commands to the shuttle motor driver, the lifting device driver, and the lifting motor driver.

[0040] The guide storage rack, shuttle, and lifting device in this application can be implemented using existing technologies. Preferably, the shuttle can be the lifting mechanism and four-way shuttle of the pallet four-way shuttle in CN215945678U. The transmission between the guide storage rack frame and the shuttle can be implemented using the guide rails in the shuttle rack system for intelligent warehousing (CN202121762881.2), the shuttle and rack arrangement structure in the shuttle rack system (201510883318.3), or the structure in the four-way shuttle rack for intelligent warehousing (CN202120440893.7). The lifting device can be implemented using the structure of the lifting ladder, lifting plate, and lifting motor transmission connection in the four-way shuttle rack for intelligent warehousing (CN202120440893.7).

[0041] like Figure 7 As shown, the control and management system also includes a limit switch and sensor module for collecting status information during the operation of the shuttle car, the lifting device, and the jacking mechanism. The limit switch and sensor module includes lifting limit switches 9 installed at the top and bottom of the lifting device, a jacking mechanism lifting position switch 10 installed in the middle of the shuttle car body, a photoelectric sensor for detecting the presence or absence of storage containers, a horizontal limit switch 11 at the front and rear ends of the bottom of the shuttle car, and a storage container anti-collision detection photoelectric sensor 12 at the front and rear of the shuttle car.

[0042] like Figure 2 As shown, the ruggedized computer includes a CPU processing module, a power supply module connected to the CPU processing module via a CPCI bus, a CAN bus module, a DIO input / output module, and a network module. The CPU processing module communicates with the host computer via the network module, receives control commands from the host central computer's inventory management computer through the network module, and feeds back the command execution status and various statuses of the shuttle, lifting device, and jacking mechanism in the automated warehouse to the host computer. The power supply module provides DC power to other modules, and the DIO input / output module provides 80 digital inputs, 40 digital outputs, or TTL outputs. The CAN bus module mainly completes the communication between the CPU processing module and the photoelectric encoder information on the shuttle's traveling motor and the lifting device's motor. The control unit sends speed control commands to the traveling and lifting devices through the CAN bus module, and the traveling and lifting devices can feed back the current encoder information to the control unit in real time.

[0043] The control and management system also includes a WIFI module and a handheld operating terminal that communicate with the ruggedized computer. The handheld operating terminal communicates with the ruggedized computer via the WIFI module. The handheld operating terminal mainly controls the inching operation of the shuttle car and lifting device through pre-programmed software, while simultaneously displaying the operating status and fault alarms of the moving equipment. The entire system also requires low-voltage electrical components such as circuit breakers, fuses, and voltage regulators. Additionally, weighing sensors can be installed on the shuttle car and lifting device, and RFID radio frequency devices can be installed on the guide storage racks to scan the explosion-proof barcodes affixed to the storage containers to obtain information on the quality and quantity of stored materials, as needed.

[0044] like Figure 3 As shown, the servo control algorithm uses a variable structure algorithm based on the magnitude of the position feedback deviation. When the deviation is large, the variable structure controller in the variable structure algorithm employs time-optimal control, with the system starting and braking at maximum acceleration and moving at maximum speed—that is, nonlinear control—to achieve a fast system response. When the deviation is small, PID control + feedforward control is used. The controller algorithm is shown in the following equation:

[0045]

[0046] Where e(n) represents the misalignment angle, F e K represents the switching input, u(n) represents the speed control input, and r(n) represents the equipment operation control input; nl K vf K af K p K i K d Adjust the parameters for the controller;

[0047] To ensure stable equipment operation, an improved S-curve will be used in the starting and braking sections, while uniform speed operation will be used in the intermediate section to avoid system oscillation and overshoot caused by direct large step input. Since the equipment travel distance is known, the travel distance will be used to generate a position curve, and this curve will be used as the input r(n) for the algorithm.

[0048] The steps to generate the S-curve are as follows:

[0049] a) Given a constant speed (rpm) and acceleration time;

[0050] b) When fitting the velocity curve, the inertia of the vehicle body and storage container, as well as the friction between the wheels and the track, were considered. The gross weight of the shuttle is M. Before the shuttle transports the storage container, the container is weighed, M0. V is the speed of the traveling equipment when it is unloaded, V' is the speed when the traveling equipment is loaded, and k is the relationship coefficient between the two speed values. The value of k can be obtained experimentally. Then: Wherein: the value of k in the system is 1, and k is related to the material of the wheel and the material of the track;

[0051] c) Use the S-curve to fit the speed and generate the speed curves for the starting and braking phases;

[0052] d) Integrate the speeds during the starting and braking phases to generate position curves;

[0053] e) Fill the middle section (total distance - starting distance - braking distance) with a constant speed to generate the running time and position curve of that section;

[0054] f) Generate the overall position curve.

[0055] Taking the shuttle car traveling to a storage position (1700mm), accelerating for 1 second, decelerating for 1 second, and maintaining a constant speed of 1800rpm as an example, the speed and position curves are as follows: Figure 4 , Figure 5 As shown.

[0056] Calculations show that the shuttle car takes 9.61 seconds to move horizontally in one position, the maximum motor speed is 1800 rpm, and the maximum side acceleration of the shuttle car is 0.393 m / s². 2 The value corresponding to the time axis of the position curve is used as the input to the controller, and the given period depends on the servo control period of the device.

[0057] Figure 6 This is a schematic diagram of the servo controller structure. The design concept of the servo controller is as follows:

[0058] a) The travel distance is the expected operating distance of the equipment. Taking the shuttle as an example, if the distance for the storage unit to move one position is 1700mm, the travel distance is 1700mm if the storage unit needs to move one position, and 3400mm if the storage unit needs to move two positions.

[0059] b) Generate a position curve based on the travel distance, and use the improved S-curve as the given r(n) of the algorithm as the servo cycle given controller input;

[0060] c) The controller uses variable structure control based on the magnitude of the position deviation. When the deviation is large, nonlinear control is used to ensure the speed of the system, and linear control is used when the deviation is small to make the equipment move smoothly. Here, e(n) represents the offset angle, u(n) represents the speed control quantity, and r(n) represents the control input when the equipment is running.

[0061] d) Feedforward controllers are used to improve device response speed and tracking accuracy;

[0062] e) The speed limiter is used to prevent motor overspeed caused by excessive control output;

[0063] f) Position feedback is provided by the driver.

[0064] A management method for an automated warehouse control and management system, the management method comprising:

[0065] a) Clicking on the storage device to be taken out of a certain layer of guide storage rack on the interface of the host computer, i.e. the inventory management computer, will trigger the system to perform a self-check and complete initialization;

[0066] b) The ruggedized computer collects status information from the limit switches, sensor modules and motor photoelectric encoders through the DIO input / output module and CAN bus module. The handheld operating terminal communicates with the ruggedized computer through the WiFi module and feeds back the status information of the shuttle and lifting device to the handheld operating terminal and the host computer. If a fault exists, a fault alarm is triggered, and the fault name is displayed on the host computer and the mobile terminal.

[0067] c) The photoelectric encoder installed on the horizontal walking motor of the shuttle car transmits the motor operation parameters to the horizontal walking motor driver, and then feeds them back to the control and rugged computer in real time via the CAN communication module. The control and rugged computer calculates the given speed of the shuttle car through a servo control algorithm based on a combination of variable structure and S-curve acceleration and deceleration, and sends the speed command to the shuttle car through the CAN communication module. When the rugged computer controls the shuttle car to travel to the designated position, the shuttle car stops moving.

[0068] d) Two photoelectric sensors on the shuttle detect whether there is a storage container above the vehicle body. If there is no storage container, the shuttle alarms and returns to its initial position. If there is a storage container, the ruggedized computer controls the lifting motor contactor to close via the DO module, which then drives the lifting mechanism to lift the storage container. The lifting ends when the lifting is completed by touching the lifting position switch.

[0069] e) If the lifting device is not parallel to the guide storage rack on that floor, i.e., if the lifting device does not stop at that floor, the ruggedized computer controls the lifting device to move vertically to that floor. The photoelectric encoder installed on the lifting motor transmits the motor operation parameters to the lifting device motor driver, and then feeds them back to the control ruggedized computer in real time via the CAN communication module. The control ruggedized computer calculates the given speed of the lifting motor using a servo control algorithm based on a combination of variable structure and S-curve acceleration and deceleration, and sends a speed command to the lifting motor via the CAN communication module. When the ruggedized computer controls the lifting device to travel to the designated position, the lifting device stops. When the lifting device travels to that floor, the lifting device guide rail and the shuttle guide rail are aligned. The shuttle car carrying the storage device travels along the guide rail to the lifting device, places the storage device on the lifting device, and then returns to the initial position.

[0070] f) Complete the outbound action.

[0071] This invention proposes an automated warehouse control and management system. The automated warehouse mainly consists of guided storage racks, shuttle cars, storage containers, lifting devices, and control equipment. The guided storage racks are multi-layered, multi-row storage bases capable of storing multiple layers and rows of items. Each layer of the guided storage rack is equipped with pairs of shuttle cars for horizontal transport of items within each layer. The storage container lifting devices are located on both sides of the guided storage racks, providing lifting functionality for vertical transport of containers between layers. When picking any storage container from the guided storage rack, a movement loop is formed between any two layers using the shuttle cars and the storage container lifting devices. Through sequential movement of the containers, the required container can be transferred to the guide storage rack exit, allowing for further operations such as container retrieval. The rated load of each storage location in the automated warehouse is 3 tons, and multiple layers and rows of storage containers can be stored according to the compartment structure dimensions. The automated warehouse control and management system can calculate and determine the order and time required for the entry and exit of storage containers in different storage locations according to the superior management and scheduling instructions, control the equipment to act in sequence, realize the automated entry and exit of each storage container, and provide real-time feedback on the entry and exit operation status to the superior management and scheduling facilities during the entire automated warehouse operation. At the same time, it can use sensors, handheld terminals and other devices to collect material information in real time and upload it for management.

[0072] This invention addresses the challenges of shipboard environments characterized by tilting and swaying, and complex electromagnetic conditions, which place high demands on the speed and position control of mobile equipment. The automated warehouse control and management system employs a servo control algorithm combining variable structure and improved S-curve acceleration / deceleration. This algorithm provides the system with advantages such as rapid response and excellent tracking accuracy, enabling smooth control of mobile equipment. Furthermore, by utilizing ruggedized computers, sensors, and RFID handheld terminals, the system can acquire information on the weight, quality, quantity, and fault status of stored materials, facilitating convenient management of these materials.

[0073] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several changes and improvements without departing from the overall concept of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. An automated warehouse control and management system, characterized in that: The automated warehousing system includes guide storage racks, shuttle cars, and lifting devices for storing storage containers. The guide storage racks are multi-layered, multi-row storage bases. Shuttle cars are installed on the guide storage racks to enable horizontal transport of storage containers on each layer. Each shuttle car includes a shuttle car travel motor, and a lifting mechanism and a lifting motor are located on the top of the shuttle car. The lifting devices are located at both ends of the guide storage racks to enable vertical transport and retrieval of storage containers between layers. Each lifting device includes a lifting device motor. The control and management system includes a ruggedized computer. The output of the ruggedized computer is connected to the shuttle car travel motor driver, the lifting device driver, and the lifting mechanism's lifting motor contactor, respectively. The outputs of the shuttle car travel motor driver, the lifting device driver, and the lifting motor contactor are connected to the shuttle car travel motor, the lifting device motor, and the lifting motor, respectively. Photoelectric encoders are installed on both the shuttle car's traveling motor and the lifting device motor. The photoelectric encoders transmit the operating parameters of the traveling motor and the lifting device motor to the shuttle car's traveling motor driver and the lifting device driver, respectively. The drivers feed the parameters back to the ruggedized computer. The ruggedized computer calculates the operating speed of the shuttle car motor, the lifting device motor, and the top-lifting motor according to the servo control algorithm, and sends speed commands to the shuttle car's traveling motor driver, the lifting device driver, and the top-lifting motor driver. The servo control algorithm uses a variable structure algorithm based on the magnitude of the position feedback deviation. When the deviation is large, the variable structure controller in the variable structure algorithm employs time-optimal control, with the system starting and braking at maximum acceleration and moving at maximum speed—that is, nonlinear control—to achieve a fast system response. When the deviation is small, PID control combined with feedforward control is used. The controller algorithm is shown in the following equation: in, Indicates the misalignment angle. Indicates the switching quantity. , , , , , Adjust the parameters for the controller respectively. Indicates speed control quantity. Indicates the input for equipment operation control; To ensure stable equipment operation, an improved S-curve will be used during the starting and braking phases, while uniform speed operation will be adopted in the intermediate phase. This will avoid system oscillation and overshoot caused by direct large step inputs. Since the equipment's travel distance is known, a position curve will be generated based on the travel distance, and this curve will be used as the input for the algorithm. ; The steps to generate the S-curve are as follows: a) Given a constant speed and acceleration time; b) When fitting the speed curve, the inertia of the vehicle body and storage vehicle and the friction between the wheels and the track were taken into account. An improved S-curve was used for speed fitting to generate speed curves for the starting and braking phases. The shuttle's gross weight is M. Before the shuttle transports the storage container, the container is weighed. , This represents the speed of the mobile equipment when it is unloaded. To account for the speed value when the mobile equipment is under load, k is the relationship coefficient between the two speed values. The value of k can be obtained experimentally. In this system, the value of k is 1, and k is related to the material of the wheel and the material of the track. c) Use the S-curve to fit the speed and generate speed curves for the starting and braking phases; d) Integrate the speeds during the starting and braking phases to generate position curves; e) Fill the middle segment with a constant travel speed to generate the running time and position curve of that segment; f) Generate the overall position curve.

2. The automated warehouse control and management system according to claim 1, characterized in that: The control and management system also includes a limit switch and sensor module for collecting status information during the operation of the shuttle car, the lifting device, and the jacking mechanism. The limit switch and sensor module includes lifting limit switches installed at the top and bottom of the lifting device, a jacking mechanism lifting position switch installed in the middle of the shuttle car body, a photoelectric sensor for detecting the presence or absence of storage containers, horizontal limit switches at the front and rear ends of the bottom of the shuttle car, and photoelectric sensors for detecting storage container collisions at the front and rear of the shuttle car.

3. The automated warehouse control and management system according to claim 1, characterized in that: The ruggedized computer includes a CPU processing module, a power supply module connected to the CPU processing module via a CPCI bus, a CAN bus module, a DIO input / output module, and a network module. The CPU processing module communicates with a host computer via the network module, receives control commands from the host central computer's inventory management computer through the network module, and feeds back the command execution status and various statuses of the shuttle, lifting device, and jacking mechanism in the automated warehouse to the host computer. The power supply module provides DC power to other modules, and the DIO input / output module provides 80 digital inputs, 40 digital outputs, or TTL outputs. The CAN bus module mainly completes the communication between the CPU processing module and the photoelectric encoder information on the shuttle's traveling motor and the lifting device's motor. The CPU processing module sends speed control commands to the traveling and lifting devices through the CAN bus module, and the traveling and lifting devices can simultaneously feed back the current encoder information to the CPU processing module in real time.

4. The automated warehouse control and management system according to claim 1, characterized in that: The control and management system also includes a WIFI module and a handheld operating terminal that are connected to the ruggedized computer. The handheld operating terminal is connected to the ruggedized computer via the WIFI module.

5. A management method using the automated warehouse control and management system according to any one of claims 2-4, characterized in that: The management method includes: a) Clicking on the storage device to be taken out of a certain layer of guide storage rack on the interface of the host computer, i.e. the inventory management computer, will trigger the system to perform a self-check and complete initialization; b) The ruggedized computer collects status information from the limit switches, sensor modules and motor photoelectric encoders through the DIO input / output module and CAN bus module. The handheld operating terminal communicates with the ruggedized computer through the WiFi module and feeds back the operating status of the shuttle to the handheld operating terminal and the host computer. If a fault exists, a fault alarm is triggered, and the fault name is displayed on the host computer and the mobile terminal. c) The photoelectric encoder installed on the horizontal walking motor of the shuttle car transmits the motor operation parameters to the horizontal walking motor driver, and then feeds them back to the control and rugged computer in real time via the CAN communication module. The control and rugged computer calculates the given speed of the shuttle car through a servo control algorithm based on a combination of variable structure and S-curve acceleration and deceleration, and sends the speed command to the shuttle car through the CAN communication module. When the rugged computer controls the shuttle car to travel to the designated position, the shuttle car stops moving. d) Two photoelectric sensors on the top of the shuttle car detect whether there is a storage device on the top of the car body. If there is no storage device, the shuttle car alarms and returns to the initial position. If there is a storage device, the reinforcement computer controls the lifting motor contactor to close through the DO module, and the shuttle car lifting motor runs, driving the lifting mechanism to lift the storage device. The lifting ends after touching the lifting position switch. e) If the lifting device is not parallel to the guide storage rack on that floor, i.e., the lifting device does not stop at that floor, the ruggedized computer controls the lifting device to run vertically to that floor. The photoelectric encoder installed on the lifting motor transmits the motor running parameters to the lifting device motor driver, and then feeds them back to the control ruggedized computer in real time via the CAN communication module. The control ruggedized computer calculates the given speed of the lifting motor using a servo control algorithm based on a combination of variable structure and S-curve acceleration and deceleration, and sends speed commands to the lifting motor via the CAN communication module. When the ruggedized computer controls the lifting device to travel to the designated position, the lifting device stops. When the lifting device travels to that floor, the lifting device guide rail is aligned with the shuttle guide rail. The shuttle car carrying the storage device travels along the guide rail to the lifting device and places the storage device on the lifting device. The shuttle car lifts the motor to place the storage device on the lifting device, and the shuttle car returns to the initial position. f) Complete the outbound operation.

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