A ring track stacker conveyor system and a method of scheduling the same

Abstract

The present application relates to a kind of ring track stacker logistics system and its scheduling method, belong to the automated logistics technical field.The present application includes warehouse rack system, ring track, stacker, stacker runs on ring track, ring track linear section is located in the roadway of warehouse rack system, ring track curve section is located outside the roadway and the curve section of its one end is set equipment failure maintenance area.Coordinate straight track mode, U-shaped track mode, the scheduling method of ring track mode, the present application not only can realize the independent work mode of one stacker in one roadway, but also can realize another stacker temporarily replaces the work of fault stacker when one stacker fails, avoid the complete paralysis of the area responsible for fault stacker, improve the stability and redundancy of logistics system, while 2 stackers can move along ring track and lift to cover all goods taking and placing area, which is beneficial to improve the work efficiency of logistics system.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automated logistics, and relates to a ring track stacker logistics system and a scheduling method thereof. BACKGROUND

[0002] In current warehouse logistics systems, a single linear lane design is generally adopted, and a stacker moves on the track in the linear lane to complete the handling work of goods on the shelves on both sides of the lane. However, this mode of work has certain drawbacks. Since the handling work of goods on the shelves on both sides of each lane depends on independent tracks and independent stackers, once a stacker in a lane needs to be repaired due to a fault, the goods on the shelves on both sides of the lane cannot be handled for storage and retrieval, and normal operation cannot be resumed until the repair is completed, resulting in poor stability of the warehouse logistics system.

[0003] In addition, if only one stacker is provided in a lane, the efficiency of handling goods on the shelves on both sides of the lane is low, and if the handling efficiency is to be improved, the number of stackers in each lane needs to be increased separately, resulting in high cost consumption. Therefore, due to poor stability, low handling efficiency, and poor redundancy, current warehouse logistics systems are increasingly difficult to meet the growing logistics demand.

[0004] Therefore, it is necessary to provide a ring track stacker logistics system and a scheduling method thereof to improve the stability of the logistics system, improve the handling efficiency and redundancy of the logistics system, and meet higher logistics demand. SUMMARY

[0005] In order to overcome the problems in the background art, the present application provides a ring track stacker logistics system and a scheduling method thereof. Different lanes are connected by a ring track, so that the stacker can move between different lanes. In combination with the scheduling method, not only can each lane complete the handling work of goods by an independent stacker, but also when one stacker fails, another stacker can be used for work. During the repair of the faulty stacker, the logistics system does not need to stop and wait, improving the stability and redundancy of the logistics system. Moreover, the stackers on the ring track all work between different lanes. When one stacker is added, it is equivalent to adding one stacker to the entire logistics system, so that the handling efficiency can be greatly improved at a low cost.

[0006] In order to achieve the above-mentioned purpose, the present application is realized by the following technical solutions:

[0007] The application discloses a loop track stacker logistics system, which comprises a warehouse rack system, a loop track and a stacker.

[0008] Preferably, the warehouse rack system comprises four rows of super-high warehouse racks, an in-out warehouse platform and an intermediate platform, the loop track is arranged at the bottom layer of the super-high warehouse racks, one straight section of the loop track is located in the aisle between the first row of super-high warehouse racks and the second row of super-high warehouse racks, another straight section of the loop track is located in the aisle between the third row of super-high warehouse racks and the fourth row of super-high warehouse racks, the second row of super-high warehouse racks and the third row of super-high warehouse racks are connected through the intermediate platform, and the in-out warehouse platform is arranged on each layer of the super-high warehouse racks.

[0009] Preferably, the stacker is two, the bottom layer of the super-high warehouse racks is located underground, and is mainly used for discharging a tray group; materials are stacked on the tray group to be stored in the warehouse; and the remaining layers are located on the ground. The super-high warehouse racks can be used to store more goods in the case of limited ground area. The stacker can be lifted along the lifting track to transport goods to different layers of the super-high warehouse racks.

[0010] Preferably, a safety distance of 2 m is arranged between the two stackers. The safety distance of at least 2 m between different stackers can be kept during operation, so that the stackers are prevented from colliding in an emergency.

[0011] The application further discloses a scheduling method of the loop track stacker logistics system, which comprises a straight track mode, a U-shaped track mode and a loop track mode. The stacker system can be freely switched between the three operation modes.

[0012] Preferably, the scheduling method of the straight track mode comprises the following steps.

[0013] S301: The stacker system receives a task from a warehouse control system, determines that the stacker operation mode is the straight track mode, and then the stacker only transports goods on the straight section of the loop track, and judges whether the task is across the aisle.

[0014] S302: According to the judgment result in the step S301, if the task does not need to cross the lane, the stacker system issues a carrying command to the stacker closest to the in-out station, and the stacker receives the command, runs on the ring track and carries the goods, if the task needs to cross the lane, the stacker system issues a command to a stacker to carry the goods to the intermediate station and issues a carrying command to the intermediate station, the intermediate station starts to work, the stacker receives the command, carries the goods to the intermediate station, the intermediate station transports the goods to another layer of the super-high storage shelf, the stacker system issues a carrying task to another stacker, the other stacker carries the goods transported by the intermediate station to the designated position, and after completing the carrying, the stacker system repeats the foregoing judgment and carrying operation.

[0015] As a preferred, the U-shaped track mode specific scheduling method comprises the following steps:

[0016] S401: When the stacker system detects that a stacker has failed and is in the equipment failure maintenance area, after the stacker system receives the task from the warehouse control system, it is determined that the stacker operation mode is the U-shaped track mode.

[0017] S402: After determining that the stacker operation mode is the U-shaped track mode, the track in the equipment failure maintenance area is completely locked, and the non-faulty stacker cannot enter the equipment failure maintenance area, at this time, the stacker system determines that the optimal path of the stacker to the picking point is to run clockwise or counterclockwise along the ring track.

[0018] S403: According to the judgment result of the optimal path of the stacker to the picking point in the step S402, the track along the optimal path is self-locked, if the optimal path of the stacker to the picking point needs to run clockwise along the ring track, the track is self-locked in the clockwise direction, and if the optimal path of the stacker to the picking point needs to run counterclockwise along the ring track, the track is self-locked in the counterclockwise direction. When the track is self-locked, the stacker with the picking task can move on the self-locked track.

[0019] S404: After the track is self-locked in the step S403, the stacker system issues a picking command to the non-faulty stacker;

[0020] S405: The stacker runs along the ring track according to the optimal path and picks the goods, and during the running of the stacker along the ring track, the ring track that has been passed by the stacker is unlocked in real time;

[0021] S406: After the stacker picks the goods, the stacker system re-determines whether the optimal path of the stacker to the putting point needs the stacker to run clockwise or counterclockwise along the ring track;

[0022] S407: According to the running time direction of the optimal path of the stacker reaching the delivery point determined in the step S406, the ring track is locked, if the optimal path of the stacker reaching the delivery point needs to run clockwise along the ring track, the track is locked clockwise, if the optimal path of the stacker reaching the delivery point needs to run counterclockwise along the ring track, the track is locked counterclockwise;

[0023] S408: After the track is locked in the step S407, the stacker system issues a delivery command to the stacker;

[0024] S409: The stacker runs along the ring track according to the optimal path and delivers, and the ring track passed by the stacker is unlocked in real time during the running of the stacker along the ring track.

[0025] As preferred, the specific scheduling method of the ring track mode comprises the following steps:

[0026] S501: The stacker system receives a task from the warehouse control system and determines that the running mode of the stacker is the ring track mode;

[0027] S502: The stacker system selects a stacker without failure and with the shortest delivery path to execute the delivery task according to the task, and judges whether there is other stacker occupying the delivery point or the delivery path;

[0028] S503: According to the judgment result of the step S502, if there is other stacker occupying the delivery point or the delivery path, it is judged whether the occupying stacker is idle, if yes, a chasing command is issued to the occupying stacker, and the running path is unlocked, the occupying stacker moves along the ring track and leaves the occupied position, if not, the chasing command is continuously issued to the occupying stacker until the occupying stacker is idle, the running path is unlocked, and the occupying stacker moves along the ring track and leaves the occupied position; when there is no other stacker occupying the delivery point or the delivery path, it is judged whether the optimal path of the stacker receiving the delivery task reaching the delivery point is running clockwise or counterclockwise along the ring track;

[0029] S504: According to the judgment result of the optimal path of the stacker reaching the delivery point in the step S503, the running track passing through the optimal path is locked;

[0030] S505: After the running track is locked, the stacker system issues a delivery command to the stacker selected in the step S502, and the stacker runs to the delivery point to complete the delivery task;

[0031] S506: After the stacker takes the goods, it is judged whether other stackers are occupied on the goods storage point or goods storage path. If other stackers are occupied on the goods storage point or goods storage path, the chasing operation in step S503 is repeated. If there is no other stacker on the goods storage point or goods storage path, it is judged whether the optimal path of the stacker receiving the goods taking task to reach the goods taking point is running in the clockwise direction or the counterclockwise direction along the ring track;

[0032] S507: According to the clockwise direction of the stacker reaching the optimal path of the goods taking point in step S506, the running track is locked;

[0033] S508: After the running track is locked, the stacker runs to the goods storage point to complete the goods storage task.

[0034] The beneficial effects of the present application are:

[0035] 1. The present application connects the aisles of the warehouse rack system through the ring track, so that the stacker can run in multiple aisles, thereby making the coverage range of a single stacker wider, and enabling different stackers to form a complementary effect. When a stacker fails to work, another stacker can temporarily replace the faulty stacker to perform its work, avoiding the logistics system from being in a stagnant state and improving the stability and redundancy of the logistics system.

[0036] 2. The present application connects the aisles of the warehouse rack system through the ring track. When a stacker is added, the work efficiency of the entire logistics system is improved, rather than only the work efficiency of a certain aisle, thereby achieving the improvement of the work efficiency of the entire logistics system at a lower cost.

[0037] 3. The logistics system cooperates with flexible and diverse scheduling methods, so that the logistics system can always work through the most reasonable scheduling method during operation, improve the work rationality of the logistics system, and be conducive to improving the work efficiency of the logistics system. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a layout top view schematic diagram of the ring track stacker logistics system of the present application.

[0039] Figure 2 is a complete work flow schematic diagram of the logistics system of the present application.

[0040] Figure 3 is a straight track mode flow schematic diagram of the logistics system of the present application.

[0041] Figure 4 is a U-shaped track mode flow schematic diagram of the logistics system of the present application.

[0042] Figure 5 is a ring track mode flow schematic diagram of the logistics system of the present application. Detailed Implementation

[0043] The present invention will be further described in detail below with reference to specific embodiments.

[0044] like Figure 1 As shown, the circular track stacker crane logistics system includes a warehouse racking system, a circular track, and a stacker crane. The stacker crane runs on the circular track. The straight section of the circular track is located inside the aisle of the warehouse racking system, and the curved section of the circular track is located outside the aisle. A fault maintenance area is set at one end of the curved section of the circular track.

[0045] The warehouse racking system includes four rows of ultra-high warehouse racks, inbound / outbound platforms, and intermediate platforms. The circular track is located at the bottom of the ultra-high warehouse racks. One straight section of the circular track is located in the aisle between the first and second rows of ultra-high warehouse racks, and the other straight section is located in the aisle between the third and fourth rows of ultra-high warehouse racks. The second and third rows of ultra-high warehouse racks are connected by the intermediate platform. The bottom of the ultra-high warehouse racks is equipped with an inbound platform, and the remaining layers are equipped with inbound / outbound platforms.

[0046] There are two stacker cranes, and each stacker crane has its own lifting track. The ultra-high storage rack has five layers, with the bottom layer located underground and the other four layers located above ground. The third and fourth layers from the bottom of the ultra-high storage rack are equipped with intermediate platforms.

[0047] The two stacker cranes are designated as Stacker Crane No. 1 and Stacker Crane No. 2. The aisle between the first and second rows of ultra-high-rise storage racks is called Aisle 1, and the aisle between the third and fourth rows of ultra-high-rise storage racks is called Aisle 2. When no equipment requires maintenance, both Stacker Cranes No. 1 and No. 2 can travel on the circular track. When the stacker crane is in Aisle 1, it can move goods on the first and second rows of ultra-high-rise storage racks. When the stacker crane is in Aisle 2, it can move goods on the third and fourth rows of ultra-high-rise storage racks. The two stacker cranes can cover the handling work of the entire logistics system, resulting in high work efficiency. If one of the stacker cranes malfunctions, for example, stacker crane number 2 malfunctions, stacker crane number 2 will travel to the equipment failure maintenance area via the circular track. Once the equipment failure maintenance area is locked, stacker crane number 1 can also travel between aisles 1 and 2 via the arc track at the other end of the circular track to perform the work in place of stacker crane number 2. This avoids the inability to move goods in the 3rd and 4th rows of extra-high storage racks due to the malfunction of stacker crane number 2, which would affect the normal operation of the logistics system and give the logistics system high stability and redundancy.

[0048] like Figure 2As shown, the scheduling method includes a straight track mode, a U-shaped track mode, and a circular track mode.

[0049] Example 1

[0050] like Figure 3 As shown, the specific scheduling method for the straight-track mode includes the following steps:

[0051] S301: The stacker crane system receives a task from the warehouse control system. After determining that the stacker crane is in straight track mode, the stacker crane only transports goods on the straight section of the circular track and determines whether the task crosses aisles.

[0052] S302: Based on the judgment result in step S301, if the task does not require crossing aisles, the stacker crane system issues a handling command to the stacker crane closest to the inbound / outbound platform. After receiving the command, the stacker crane runs on the circular track and handles the goods. If the task requires crossing aisles, the stacker crane system issues a command to one stacker crane to move the goods to the intermediate platform and issues a handling command to the intermediate platform. The intermediate platform starts working. After receiving the command, the stacker crane moves the goods to the intermediate platform, and the intermediate platform transports the goods to another layer of ultra-high storage racks. The stacker crane system issues a handling task to another stacker crane, and the other stacker crane moves the goods transported from the intermediate platform to the designated location. After completing one handling operation, the stacker crane system repeats the aforementioned judgment and handling actions.

[0053] by Figure 1 Taking the logistics system as an example, if stacker crane No. 1 and stacker crane No. 2 are operating in straight track mode, and it is necessary to move the goods from the 4th row of ultra-high storage racks to the 1st row of ultra-high storage racks, then stacker crane No. 2 will travel to the picking point to retrieve the goods, and then transport the goods to the intermediate station. The intermediate station will transport the goods from aisle 2 to aisle 1, and then stacker crane No. 1 will receive the goods from the intermediate station and transport them to the placement point of the 1st row of racks.

[0054] Example 2

[0055] like Figure 4 As shown, the specific scheduling method for the U-shaped track mode includes the following steps:

[0056] S401: When the stacker crane system detects a stacker crane malfunction and is in the equipment malfunction repair area, the stacker crane system receives a task from the warehouse control system and determines that the stacker crane's operating mode is U-shaped track mode.

[0057] S402: After determining that the stacker operation mode is the U-shaped track mode, the track in the equipment failure maintenance area is completely locked, and the stacker without failure cannot enter the equipment failure maintenance area. At this time, the stacker system determines that the optimal path of the stacker to the pickup point is to run clockwise or counterclockwise along the ring-shaped track.

[0058] S403: According to the determination result of the optimal path of the stacker to the pickup point in the step S402, the track along the optimal path is self-locked. If the optimal path of the stacker to the pickup point needs to run clockwise along the ring-shaped track, the track is self-locked in the clockwise direction. If the optimal path of the stacker to the pickup point needs to run counterclockwise along the ring-shaped track, the track is self-locked in the counterclockwise direction.

[0059] S404: After the track is self-locked in the step S403, the stacker system issues a pickup command to the stacker without failure.

[0060] S405: The stacker runs along the ring-shaped track according to the optimal path and performs pickup. During the running of the stacker along the ring-shaped track, the ring-shaped track that has been passed by the stacker is unlocked in real time.

[0061] S406: After the stacker performs pickup, the stacker system re-determines whether the optimal path of the stacker to the drop-off point needs to run clockwise or counterclockwise along the ring-shaped track.

[0062] S407: According to the running direction of the optimal path of the stacker to the drop-off point determined in the step S406, the ring-shaped track is locked. If the optimal path of the stacker to the drop-off point needs to run clockwise along the ring-shaped track, the track is locked in the clockwise direction. If the optimal path of the stacker to the drop-off point needs to run counterclockwise along the ring-shaped track, the track is locked in the counterclockwise direction.

[0063] S408: After the track is locked in the step S407, the stacker system issues a drop-off command to the stacker.

[0064] S409: The stacker runs along the ring-shaped track according to the optimal path and performs drop-off. During the running of the stacker along the ring-shaped track, the ring-shaped track that has been passed by the stacker is unlocked in real time.

[0065] In Figure 1Taking the logistics system as an example, if stacker crane No. 2 malfunctions and stops in the equipment failure maintenance area, stacker crane No. 1 cannot enter the equipment failure maintenance area. The task issued by the Warehouse Control System (WCS) is to move the goods from the second row of ultra-high storage racks to the third row of ultra-high storage racks. According to the current position of stacker crane No. 1, which is not malfunctioning, it can only move counterclockwise along the circular track to move the goods from the second row of ultra-high storage racks to the loading point of the third row of ultra-high storage racks. At this time, the circular track self-locks the track path that stacker crane No. 1 needs to travel along in the counterclockwise direction. Stacker crane No. 1 can move on the self-locked track path. Then, as stacker crane No. 1 moves on the circular track, the track that has been passed is unlocked.

[0066] Example 3

[0067] like Figure 5 As shown, the specific scheduling method for the circular track mode includes the following steps:

[0068] S501: The stacker crane system receives a task from the warehouse control system and determines that the stacker crane's operating mode is the circular track mode.

[0069] S502: The stacker crane system selects the stacker crane with no faults and the shortest picking path to perform the picking task, and at the same time determines whether there are other stacker cranes occupying the picking point or picking path.

[0070] S503: Based on the judgment result of step S502, if there are other stacker cranes occupying the pickup point or pickup path, it is determined whether the occupying stacker crane is free. If it is free, a rush command is issued to the occupying stacker crane, waiting for the running path to be unlocked. When the running path is unlocked, the occupying stacker crane moves along the circular track and leaves the occupied position. If the occupying stacker crane is not free, a rush command is continuously issued to the occupying stacker crane until the occupying stacker crane is free. At that time, the running path is unlocked, and the occupying stacker crane moves along the circular track and leaves the occupied position. When there are no other stacker cranes occupying the pickup point or pickup path, it is determined whether the optimal path for the stacker crane receiving the pickup task to reach the pickup point is to run clockwise or counterclockwise along the circular track.

[0071] S504: Based on the judgment result of the stacker crane reaching the optimal path to the picking point in step S503, automatically lock the running track along the optimal path.

[0072] S505: After the running track is automatically locked, the stacker crane system issues a pickup instruction to the stacker crane selected in step S502, and the stacker crane runs to the pickup point to complete the pickup task.

[0073] S506: After the stacker crane picks up the goods, it determines whether there are other stacker cranes occupying the delivery point or delivery path. If there are other stacker cranes occupying the delivery point or delivery path, the rush operation in step S503 is repeated. If there are no other stacker cranes occupying the delivery point or delivery path, it determines whether the optimal path for the stacker crane receiving the picking task to reach the picking point is to run clockwise or counterclockwise along the circular track.

[0074] S507: Lock the running track according to the clockwise direction of the optimal path for the stacker crane to reach the picking point in step S506.

[0075] S508: After the running track is locked, the stacker crane moves to the unloading point to complete the unloading task.

[0076] by Figure 1 Taking a logistics system as an example, assume that stacker cranes No. 1 and No. 2 are currently operating in a circular track mode. The task issued by the WCS is to retrieve goods from the first row of ultra-high-rise storage racks and place them on the fourth row of ultra-high-rise storage racks. The placement point is located at the current position of stacker crane No. 2. Initially, stacker crane No. 1 is selected for retrieval. However, stacker crane No. 2 is currently occupying the placement point, preventing stacker crane No. 1 from reaching it smoothly. Therefore, the stacker crane system checks if stacker crane No. 2 is idle. If it is idle, the system sends a urge-to-deliver command to stacker crane No. 2 and unlocks the circular track to its left. Stacker crane No. 2 receives the command. Afterwards, it moves to the left to leave the delivery point. If stacker crane #2 is in a picking or placing state at this time, it will not leave after receiving the instruction. The stacker crane system determines that the delivery point is occupied by stacker crane #2, and will continuously issue rush instructions to stacker crane #2 until it completes its work. Upon receiving the instruction, its left circular track is unlocked, and stacker crane #2 moves to the left along the circular track to leave the occupied point. The stacker crane system determines that stacker crane #2 has left the delivery point, then determines the travel path of stacker crane #1 and self-locks the path track. Figure 1 For Stacker Crane No. 1 to reach the unloading point, the best path is to move counterclockwise along the circular track. Therefore, the circular track is self-locked in the counterclockwise direction. After receiving the travel command, Stacker Crane No. 1 starts to move on the circular track, unlocking the circular track it has already passed as it moves, until Stacker Crane No. 1 reaches the unloading point and puts down the goods.

[0077] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. A scheduling method for a circular track stacker crane logistics system, characterized in that: The circular track stacker crane logistics system includes a warehouse racking system, a circular track, and a stacker crane. The stacker crane runs on the circular track. The straight section of the circular track is located inside the aisle of the warehouse racking system, and the curved section of the circular track is located outside the aisle. A fault maintenance area is set up at one end of the curved section of the circular track. The scheduling method includes straight track mode, U-shaped track mode, and circular track mode. The stacker crane system can freely switch between the three operating modes. The specific scheduling method for the straight-track mode includes the following steps: S301: The stacker crane system receives a task from the warehouse control system. After determining that the stacker crane is in straight track mode, the stacker crane only transports goods on the straight section of the circular track and determines whether the task crosses aisles. S302: Based on the judgment result in step S301, if the task does not require crossing aisles, the stacker crane system issues a handling command to the stacker crane that is closer to the inbound / outbound platform. After receiving the command, the stacker crane runs on the circular track and handles the goods. If the task requires crossing aisles, the stacker crane system issues a command to one stacker crane to handle the goods to the intermediate platform and issues a handling command to the intermediate platform. The intermediate platform starts working. After receiving the command, the stacker crane handles the goods to the intermediate platform. The intermediate platform then transports the goods to another layer of ultra-high storage racks. The stacker crane system issues a handling task to another stacker crane. The other stacker crane handles the goods transported from the intermediate platform to the designated location. After completing one handling operation, the stacker crane system repeats the aforementioned judgment and handling actions. The specific scheduling method for the U-shaped track mode includes the following steps: S401: When the stacker crane system detects that a stacker crane has malfunctioned and is in the equipment malfunction repair area, the stacker crane system receives a task from the warehouse control system and determines that the stacker crane's operating mode is U-shaped track mode. S402: After determining that the stacker crane's operating mode is U-shaped track mode, the track in the equipment fault repair area is completely locked, and the stacker crane without faults cannot enter the equipment fault repair area. At this time, the stacker crane system determines that the optimal path for the stacker crane to reach the picking point is to run clockwise or counterclockwise along the circular track. S403: Based on the judgment result of the optimal path for the stacker crane to reach the pickup location in step S402, the track along the optimal path is self-locked. If the optimal path for the stacker crane to reach the pickup location needs to run clockwise along the circular track, the track is self-locked in the clockwise direction. If the optimal path for the stacker crane to reach the pickup location needs to run counterclockwise along the circular track, the track is self-locked in the counterclockwise direction. S404: After the track self-locking in step S403, the stacker crane system issues a pickup command to the stacker crane that is fault-free. S405: The stacker crane runs along the circular track according to the optimal path and picks up goods. During the operation of the stacker crane along the circular track, the circular track that the stacker crane has passed through is unlocked in real time. S406: After the stacker crane retrieves the goods, the stacker crane system re-determines the optimal path for the stacker crane to reach the delivery point, requiring the stacker crane to run along the circular track in a clockwise or counterclockwise direction; S407: According to the clockwise direction of the stacker crane's optimal path to the delivery point determined in step S406, lock the circular track. If the optimal path of the stacker crane to the delivery point requires clockwise movement along the circular track, then lock the track in the clockwise direction. If the optimal path of the stacker crane to the delivery point requires counterclockwise movement along the circular track, then lock the track in the counterclockwise direction. S408: After the track is locked in step S407, the stacker crane system issues a delivery command to the stacker crane. S409: The stacker crane runs along the circular track according to the optimal path and unloads goods. During the operation of the stacker crane along the circular track, the circular track that the stacker crane has passed through is unlocked in real time. The specific scheduling method for the circular track mode includes the following steps: S501: The stacker crane system receives a task from the warehouse control system and determines that the stacker crane's operating mode is the circular track mode; S502: The stacker crane system selects the stacker crane with no faults and the shortest picking path to perform the picking task, and at the same time determines whether there are other stacker cranes occupying the picking point or picking path. S503: Based on the judgment result of step S502, if there are other stacker cranes occupying the pickup point or pickup path, it is determined whether the occupying stacker crane is free. If it is free, a rush command is issued to the occupying stacker crane, waiting for the running path to be unlocked. When the running path is unlocked, the occupying stacker crane moves along the circular track and leaves the occupied position. If the occupying stacker crane is not free, a rush command is continuously issued to the occupying stacker crane until the occupying stacker crane is free. At that time, the running path is unlocked, and the occupying stacker crane moves along the circular track and leaves the occupied position. When there are no other stacker cranes occupying the pickup point or pickup path, it is determined whether the optimal path for the stacker crane receiving the pickup task to reach the pickup point is to run clockwise or counterclockwise along the circular track. S504: Based on the judgment result of the stacker crane reaching the optimal path to the picking point in step S503, automatically lock the running track along the optimal path; S505: After the running track is automatically locked, the stacker crane system issues a picking instruction to the stacker crane selected in step S502, and the stacker crane runs to the picking point to complete the picking task. S506: After the stacker crane picks up the goods, it determines whether there are other stacker cranes occupying the delivery point or delivery path. If there are other stacker cranes occupying the delivery point or delivery path, the rush operation in step S503 is repeated. If there are no other stacker cranes occupying the delivery point or delivery path, it determines whether the optimal path for the stacker crane receiving the picking task to reach the picking point is to run clockwise or counterclockwise along the circular track. S507: Lock the running track according to the clockwise direction of the optimal path for the stacker crane to reach the picking point in step S506; S508: After the running track is locked, the stacker crane moves to the unloading point to complete the unloading task.

2. The scheduling method for a circular track stacker crane logistics system according to claim 1, characterized in that: The warehouse racking system includes four rows of ultra-high warehouse racks, inbound / outbound platforms, and intermediate platforms. The circular track is located at the bottom of the ultra-high warehouse racks. One straight section of the circular track is located in the aisle between the first and second rows of ultra-high warehouse racks, and the other straight section is located in the aisle between the third and fourth rows of ultra-high warehouse racks. The second and third rows of ultra-high warehouse racks are connected by the intermediate platform. Each level of the ultra-high warehouse racks is equipped with an inbound / outbound platform.

3. The scheduling method for a circular track stacker crane logistics system according to claim 2, characterized in that: There are two stacker cranes. The bottom layer of the ultra-high storage rack is located underground, and the other layers are located above ground.

4. The scheduling method for a circular track stacker crane logistics system according to claim 3, characterized in that: A safety distance of 2 meters is set between the two stacker cranes.

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