An automatic loading and unloading warehouse control system and loading and unloading equipment thereof

Abstract

The application relates to the technical field of warehouse control, and particularly discloses an automatic loading and unloading warehouse control system and loading and unloading equipment thereof, which is provided with a berthing carriage information acquisition and processing module, a cargo transfer intelligent control module, a warehouse management information comprehensive judgment module and a data control library. First, berthing carriage information acquisition and preprocessing is carried out to determine whether the loading and unloading AGV can be started, and then the first channel is screened to transfer the carriage cargo. Thus, the warehouse management information control abnormal value of the intelligent warehouse control platform is comprehensively calculated, and the warehouse management information is autonomously controlled and warned, which is beneficial to realizing the rapid loading and unloading operation of the cargo, greatly improving the intelligent efficiency of the warehouse, and simultaneously reducing the labor cost of the warehouse operation and improving the processing quality and accuracy of the cargo.

Description

Technical Field

[0001] This invention relates to the field of warehouse control technology, specifically to an automatic loading and unloading warehouse control system and its loading and unloading equipment. Background Technology

[0002] In traditional warehousing operations, manual labor still accounts for a significant proportion, and there are corresponding risks during loading and unloading. With rising labor costs and a growing labor shortage, improving the automation level of warehousing and logistics has become a crucial issue. Intelligent control of warehousing can reduce the costs of manual operations and losses caused by human factors, facilitating rapid loading and unloading of goods and significantly improving warehousing efficiency. Furthermore, intelligent control of warehousing allows for real-time monitoring of the location, status, and quantity of goods, enhancing the visibility and controllability of the warehousing process. It also improves the accuracy and consistency of warehousing operations, and enhances the quality and accuracy of goods processing, thereby contributing to better logistics planning and resource allocation.

[0003] For example, patent application CN108089557B discloses an AGV rack storage control system and method, applied to the MES system in garment manufacturing. The control system includes an AGV control center, a rack recycling area, a rack release area, and RFID detection equipment. The AGV control center controls AGV transport vehicles to the rack recycling area to pick up racks and material baskets according to the target material release instructions from the MES system, and then to retrieve the target materials from the material storage area. It also controls the AGV transport vehicles to deliver the target materials to the sewing station location obtained from the MES system. After receiving a signal from the WCS system indicating that the sewing station has retrieved all materials, the AGV transport vehicles are controlled to return to the rack recycling area with empty racks and material baskets. The RFID detection equipment detects the rack codes and material basket codes on the AGV transport vehicles and transmits this information to the WCS system. This application enables a high degree of automation in material transportation and rack management during garment manufacturing, significantly improving production efficiency.

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

[0005] To address the shortcomings of existing technologies, this invention provides an automated loading and unloading warehouse control system and its loading and unloading equipment, which can effectively solve the problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The first aspect of the present invention provides an automatic loading and unloading warehouse control system, comprising: a docking compartment information acquisition and processing module, used to analyze the activation judgment value of the loading and unloading AGV, wherein the activation judgment value of the loading and unloading AGV is used to collect and preprocess the docking compartment information; a cargo conveying intelligent control module, used to convey cargo in the compartment via the loading and unloading AGV, analyze the selection evaluation value of each pre-execution channel, and select the first channel for cargo conveying; and a warehouse management information comprehensive judgment module, used to comprehensively calculate the warehouse management information control anomaly value of the intelligent warehouse control platform, and provide autonomous early warning control prompts for the warehouse management information.

[0007] As a further solution, the autonomous early warning and control prompts for warehouse management information are analyzed in the following manner:

[0008] The abnormal value of the warehouse management information control of the intelligent warehouse control platform is compared with the preset abnormal threshold of the warehouse management information control. If the abnormal value of the warehouse management information control of the intelligent warehouse control platform is higher than the preset abnormal threshold of the warehouse management information control, the warehouse management information will be automatically warned and controlled.

[0009] As a further solution, the intelligent warehouse control platform controls abnormal values ​​in its warehouse management information, and the specific analysis process is as follows:

[0010] The set operation control cycle is deployed as various control time points. Operating parameters for each gantry depalletizer are acquired, including servo motor speed, cylinder pressure, and operating noise at each control time point. Simultaneously, the depalletizing time for each operation within the set operation control cycle is statistically analyzed. Reference servo motor speed, reference cylinder pressure, operating noise threshold, and permissible depalletizing time for each gantry depalletizer are extracted from the data control database, and the operating status evaluation coefficient of the gantry depalletizer is calculated. Functional parameters, battery parameters, and operating environment parameters for each AGV (Automated Guided Vehicle) are statistically analyzed and acquired. Functional parameters include emergency braking parameters for each emergency braking operation within the operation control cycle. The data includes the gliding distance, forward speed, backward speed, and left and right swing amplitude at each control time point; battery parameters including the number of battery protection mechanism responses during the operation control cycle and the output power at each control time point; and operating environment parameters including the ground unevenness of the road surface along the path of each AGV transport vehicle at each control time point. The data control database is used to extract the emergency braking gliding limit distance, forward speed limit value, backward speed limit value, left and right swing amplitude allowable value, output power limit value, and ground unevenness limit value of the AGV transport vehicle. The transport scheduling evaluation coefficient of the AGV transport vehicle is calculated, and the abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform are calculated accordingly.

[0011] As a further solution, the first screening channel is used for cargo transfer within the carriage. The specific analysis process is as follows:

[0012] The evaluation values ​​of each pre-execution channel are arranged in descending order to select the first channel for cargo transportation.

[0013] As a further solution, the specific analysis process for selecting the evaluation value of each pre-execution channel is as follows:

[0014] Visual recognition is used to identify vacant storage locations in the buffer storage area before the warehouse, and a suitable control storage location is selected according to a preset storage location selection mechanism. At the same time, each pre-execution channel is obtained according to a preset path generation algorithm. The maximum flatness deviation, maximum curvature of the curve section, and maximum slope of each pre-execution channel during the operation control cycle are obtained. The maximum friction coefficient measured in the historical operation of each pre-execution channel is also obtained. The flatness deviation reference value, curve curvature limit value, withstand slope, and friction coefficient limit value of the execution channel are extracted from the data control database. The selection evaluation value of each pre-execution channel is calculated.

[0015] As a further solution, the specific data acquisition process for the activation determination value of the loading and unloading AGV is as follows:

[0016] The contact line between the loading ramp and the bottom of the truck bed is collected by 3D Sky Eye and recorded as the reference line for the loading ramp position. The outer line of the bottom of the truck bed is scanned and the angle between the reference line for the loading ramp position and the outer line of the bottom of the truck bed is extracted and recorded as the loading ramp position offset angle. At the same time, the maximum interval length between the first and second lateral positions of the loading ramp and the corresponding inner side of the vehicle is extracted. The height difference between the plane height of the hydraulic lifting platform and the height of the bottom of the truck bed is extracted. The damping coefficients of the first and second intelligent positioning damping blocks of the platform are extracted. The minimum angle between the longest extended central axis of the truck bed floor and the outer edge of the platform, as well as the angle between the longest extended central axis of the truck bed floor and the vertical center line of the loading ramp are obtained. The loading ramp position offset angle limit value and the maximum interval limit length between the first and second lateral positions of the loading ramp and the corresponding inner side of the vehicle are extracted from the data control library. Based on these, the activation judgment value of the loading and unloading AGV is calculated.

[0017] The second aspect of the present invention provides an automated loading and unloading equipment, including: an intelligent warehouse control platform, a gantry depalletizer, an AGV transport vehicle, and a loading and unloading AGV;

[0018] The intelligent warehouse control platform is used to control the automated loading and unloading equipment;

[0019] The gantry depalletizer is used for depalletizing and stacking, and the gantry depalletizer interacts with the AGV transport vehicle.

[0020] The AGV transport vehicle is used to receive cargo transfer instructions from the intelligent warehouse control platform and to transport cargo through the first channel.

[0021] The loading and unloading AGV is used to unload and transport materials from the vehicle to the truck.

[0022] Pressure sensors are used to acquire the cylinder pressure of each gantry depalletizer at each control time point;

[0023] Sound level meters are used to obtain the operating noise of each gantry depalletizer at each control time point;

[0024] Power sensors are used to obtain the output power of each AGV transport vehicle at each control time point.

[0025] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0026] (1) This invention provides an automatic loading and unloading warehouse control system and its loading and unloading equipment. First, it collects and preprocesses information on the docking carriage to determine whether the loading and unloading AGV has been successfully activated. Second, it screens the first channel for the transfer of goods in the carriage. It comprehensively calculates the abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform and provides autonomous early warning control prompts for the warehouse management information. This is conducive to realizing the rapid loading and unloading of goods and warehouse operations, and greatly improves the efficiency of intelligent warehousing.

[0027] (2) This invention collects and preprocesses information on the parking carriages, analyzes the matching degree between the boarding bridge, hydraulic lifting platform and platform and the parking carriage, and evaluates and analyzes the activation judgment value of the loading and unloading AGV. It can not only determine in real time whether the parking position of the carriage meets the parking standard, but also improve the visualization and controllability of the parking operation of the carriage.

[0028] (3) This invention uses a loading and unloading AGV to transport goods in a carriage, analyzes the flatness, curvature, slope and friction coefficient of each pre-execution channel, evaluates the selection evaluation value of each pre-execution channel, and selects the first channel for transporting goods in the carriage. This provides more comprehensive data for the subsequent comprehensive judgment of abnormal values ​​in the warehouse management information control of the intelligent warehouse control platform, and can improve the accuracy and consistency of warehouse operations.

[0029] (4) This invention determines the operating parameters of the gantry depalletizer, the functional parameters of the AGV transport vehicle, the battery parameters and the operating environment parameters, and comprehensively calculates the abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform. It also provides autonomous early warning control prompts for the warehouse management information. This not only reduces the labor cost of warehouse operations, but also improves the quality and accuracy of goods processing, and helps to achieve more reasonable and efficient resource allocation. Attached Figure Description

[0030] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the system module connections of the present invention.

[0032] Figure 2 This is a schematic diagram of the warehousing process logic involved in this invention.

[0033] Figure 3 This is a schematic diagram of the outbound process logic involved in this invention.

[0034] Figure 4 This is a schematic diagram of the loading ramp connection involved in the present invention. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0036] Reference Figure 1 As shown, the first aspect of the present invention provides an automatic loading and unloading warehouse control system, including: a docking compartment information collection and processing module, a cargo conveying intelligent control module, and a warehouse management information comprehensive judgment module.

[0037] The aforementioned automatic loading and unloading warehouse control system further includes a data control library, which stores the servo motor reference speed, cylinder reference pressure, operating noise limit value, and depalletizing allowable duration of the gantry depalletizer; it also stores the emergency braking and sliding limit distance, forward speed limit value, backward speed limit value, lateral swing allowable value, output limit power, and ground unevenness limit difference of the AGV transport vehicle; it stores the flatness deviation reference value of the execution channel, the curvature limit value of the curve section, the slope it can withstand, and the friction coefficient limit value; and it stores the position offset angle limit value of the climbing bridge, the maximum interval limit length between the first and second side orientations of the climbing bridge and the inner side of the corresponding vehicle.

[0038] The parking compartment information collection and processing module is connected to the cargo conveying intelligent control module, which in turn is connected to the warehouse management information comprehensive judgment module. All three modules are connected to the data control database.

[0039] The warehouse management information comprehensive judgment module is used to comprehensively calculate the abnormal values ​​of warehouse management information control of the intelligent warehouse control platform, and to provide autonomous early warning control prompts for warehouse management information.

[0040] In this embodiment, the intelligent warehouse control platform can be divided into a warehouse control system, a warehouse management system, and an AGV scheduling system.

[0041] In this embodiment, the functions of the AGV scheduling system include establishing a map model within the operating scenario of each AGV transport vehicle, dynamically displaying the working position and operating status of each AGV transport vehicle, receiving, allocating, issuing and responding to ride-hailing tasks, displaying the execution status of tasks at all levels in real time, optimal planning of multiple paths within the map model, real-time monitoring of the battery power of each AGV transport vehicle, low battery warning and charging, real-time monitoring of the position, obstacle avoidance, movement and other status information of each AGV transport vehicle in the system, and real-time monitoring of the communication status between each docking module in the system.

[0042] It should be explained that the aforementioned intelligent warehouse control platform can be divided into three types of operations: goods inbound, goods outbound, and pallet supply and recovery.

[0043] In this embodiment, the specific operation process for goods entering the warehouse is as follows: Figure 2 As shown, the specific process is as follows:

[0044] The driver arrives at the metrology verification center. The driver opens the vehicle door and drives the delivery vehicle to the platform. After confirming it is parked correctly, the driver informs the automated warehouse receiving and dispatching room of the platform number and the information about the materials inside the vehicle. The warehouse management personnel enter the corresponding information into the warehouse management system and synchronize this information to the warehouse control system. The warehouse control system issues a work order to the AGV dispatching system based on the synchronized information and platform number. The loading ramp is positioned, and the hydraulic loading bridge is raised and lowered to the designated height, engaging the loading platform to connect with the truck. The automated loading and unloading AGV receives the loading bridge's arrival signal, enters the loading bridge, and starts to retrieve the goods from the delivery vehicle. After retrieval, the automated loading and unloading AGV delivers the goods to the gantry depalletizer or the storage buffer area according to the dispatch instructions, and reports the current task completion status and storage location information. Once the automated loading and unloading AGV has completed this unloading operation, it repeats until the entire unloading process is complete. After the manufacturer's goods are unloaded, the automated loading and unloading AGV notifies the digital loading ramp and loading bridge to reset, and the vehicle departs.

[0045] In this embodiment, the specific operation process for goods leaving the warehouse is as follows: Figure 3 As shown, the specific process is as follows:

[0046] The warehouse management system generates delivery plans and tasks based on its own inventory and the inventory of the requesting units. It then notifies the third-party logistics company of these tasks, and the third-party logistics company provides feedback on the loading vehicles, which is then entered into the warehouse management system. Upon arrival at the metrology verification center, the driver opens the doors, drives the vehicle to the platform, confirms it is parked correctly, and informs the automated warehouse receiving and dispatching room of the platform number and vehicle information. The warehouse control system generates sequential outbound tasks and automatically transports the outbound measuring instruments to the palletizing inlet of the gantry depalletizer. The gantry depalletizer first completes the palletizing. After binding the pallet information with the information of the turnover boxes and measuring instruments, the information is uploaded to the warehouse control system. The warehouse control system generates a handling task and sends it to the AGV scheduling system. The AGV scheduling system dispatches automatic loading and unloading AGVs to deliver the turnover boxes to the hydraulic loading ramps of the designated platform. At this time, the pallet carrier and hydraulic loading ramp start to lift and lower to the designated height, connect the pallet, and complete the connection with the truck. The automatic loading and unloading AGV drives into the truck to complete the loading. The AGV returns to the hydraulic loading ramp and sends a signal indicating that it has arrived. The automatic loading and unloading AGV completes this unloading operation and repeats until the entire loading action is completed. Then, the automatic loading and unloading AGV notifies the digital pallet carrier and loading ramp to reset, and the vehicle leaves.

[0047] In this embodiment, the specific operation process for pallet supply and recycling is as follows:

[0048] (1) Pallet supply process: When the gantry depalletizer needs empty pallets for outbound palletizing, it reports the empty pallet demand information to the warehouse control system. The warehouse control system generates a pallet supply task based on the status of the buffer station and sends it to the AGV scheduling system. The AGV scheduling system schedules the pallet AGV to pick up the pallet from the pallet buffer area and send it to the interactive station of the gantry depalletizer.

[0049] (2) Pallet recycling process: The gantry depalletizer will recycle the pallet carts when they are put into storage. After 10 pallets are collected in a group, they flow into the intermediate roller line for buffering. When the buffer station is full, the empty pallet unloading demand information is reported to the warehouse control system. The warehouse control system generates a pallet stack recycling task according to the buffer station situation and sends it to the AGV scheduling system. The AGV scheduling system schedules the pallet AGV to pick up the pallet stack from the pallet buffer area of ​​the roller line and send it to the empty pallet stack buffer area of ​​the warehouse for storage.

[0050] Specifically, the process of autonomously issuing early warnings and providing alerts for warehouse management information involves the following analysis:

[0051] The abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform are compared with the preset abnormal thresholds. If the abnormal value of the warehouse management information control of the intelligent warehouse control platform is higher than the preset abnormal threshold, it should be explained that when the abnormal value of the warehouse management information control of the intelligent warehouse control platform is higher than the preset abnormal threshold, it indicates that there are problems such as equipment failure or instability of AGV transport vehicles during operation. Therefore, it is necessary to monitor the warehouse management information of the intelligent warehouse control platform in real time to ensure the smooth, safe and efficient handling of goods.

[0052] It can then provide autonomous early warning and control prompts for warehouse management information.

[0053] Furthermore, the specific calculation formula for abnormal values ​​in the warehouse management information control of the intelligent warehouse control platform is as follows:

[0054] In the formula, δ represents the abnormal value of the warehouse management information control of the intelligent warehouse control platform. In this embodiment, if the intelligent warehouse control platform has equipment failures or other problems, it may cause interruption or delay of warehouse operations, affecting the tracking and management of goods. It may also cause vehicle collisions, blockages, or incorrect route planning, leading to equipment damage, delays, or safety risks. In order to reduce these negative impacts, it is necessary to monitor the intelligent warehouse control platform in real time, promptly detect faults that hinder intelligent warehouse operations, and take corresponding measures to deal with them in a timely manner.

[0055] α1 is the operating status evaluation coefficient of the gantry depalletizer, α2 is the handling and scheduling evaluation coefficient of the AGV transport vehicle, Φ1 and Φ2 are the execution weight factors corresponding to the set operating status evaluation coefficient and handling and scheduling evaluation coefficient, respectively, and e is a natural constant.

[0056] Specifically, the analysis process for the operating status evaluation coefficient of the gantry depalletizer is as follows:

[0057] The set operation control cycle is deployed as each control time point, and the operation parameters of each gantry depalletizer are obtained, including the servo motor speed, cylinder pressure and operation noise at each control time point.

[0058] It should be explained that the aforementioned gantry depalletizer is used for destacking and stacking turnover boxes and pallets. The working principle of the gantry depalletizer is as follows:

[0059] The gantry robot grabs the turnover boxes and transports them to the inbound conveyor line. After all the turnover boxes are grabbed, the gantry robot grabs the pallets in sequence and transports them to the pallet storage position and scans the barcodes. Then, the conveyor equipment transports the pallets to the pallet stacking position. After stacking into 10 turnover boxes, they are transported to the pallet buffer position of the roller conveyor. A single-fork AGV forklift picks up a single stack and moves it to the pallet storage area.

[0060] Further explanation is needed regarding the specific functional parameters of the aforementioned turnover box: The turnover box is made of plastic and is used to hold electrical energy metering devices, including but not limited to single-phase electricity meters, three-phase electricity meters, low-voltage current transformers, and metering automation terminals. The information carriers of the turnover box include RFID tags and one-dimensional barcodes. The turnover box comes in two sizes: 720mm long, 450mm wide, and 120mm high, and 720mm long, 450mm wide, and 200mm high. A single box can hold 50kg, and the stacking capacity varies depending on the type of goods placed, ranging from 100kg to 350kg.

[0061] At the same time, the depalletizing time of each operation of each gantry depalletizer within the set operating control cycle is statistically analyzed.

[0062] Extract the servo motor reference speed, cylinder reference pressure, operating noise limit value, and depalletizing permit duration of the gantry depalletizer from the data control library;

[0063] The operating status evaluation coefficient of the gantry depalletizer is calculated using the following formula:

[0064]

[0065] in,

[0066]

[0067] In the formula, α1 is the operating status evaluation coefficient of the gantry depalletizer. The above-mentioned operating status evaluation coefficient of the gantry depalletizer can not only be analyzed by the above algorithm, but also directly obtained by special equipment. If the servo motor speed is too high or too low, it may lead to inaccurate pallet dismantling and stacking operations, thereby affecting the logistics efficiency of the warehouse and the safety of goods. If the cylinder pressure is unstable, it may lead to unstable movement of mechanical parts or failure to work properly, which may affect the accuracy of pallet dismantling and stacking operations, and may even lead to mechanical failure and damage. Excessive operating noise may also cause vibration and damage to mechanical parts and equipment structure, shortening the service life of the equipment. If the depalletizing time is too long, it may lead to low warehouse logistics efficiency, delay the processing and distribution of goods, and affect the operational efficiency of the warehouse and the timeliness of goods. In order to reduce these negative impacts, the gantry depalletizer needs to ensure that the servo motor speed, cylinder pressure, operating noise and depalletizing time are within a reasonable range. In addition, regular maintenance and equipment inspection are also important measures to ensure the normal operation of the equipment and reduce negative impacts.

[0068] ω1 and ω2 are the set equipment performance and destacking operation corresponding operation evaluation values, respectively; A1 and A2 are the set equipment performance and destacking operation corresponding operation evaluation weight coefficients, respectively; ξ1 and ξ2 are the set equipment performance and destacking operation corresponding operation evaluation correction coefficients, respectively; MZab, MYab, and MS ab The figures represent the servo motor speed, cylinder pressure, and operating noise of the gantry depalletizer at the b-th control time point, respectively. It should be noted that the cylinder pressure and operating noise values ​​are obtained from a pressure sensor and a sound level meter, respectively. The servo motor speed refers to the rotational speed of the motor shaft, typically measured in revolutions per minute (rpm). The cylinder pressure refers to the gas pressure generated inside the cylinder, typically measured in Pascals. The gantry depalletizer generates noise during operation, which may originate from the movement and friction of the motor, cylinders, transmission devices, and other mechanical components.

[0069] In this embodiment, the pressure sensor is installed on the working chamber of the cylinder of the gantry depalletizer to measure the working pressure inside the cylinder and monitor the pressure changes inside the cylinder to ensure the normal operation and safety of the gantry depalletizer; the sound level meter is installed near the gantry structure to be close to the noise source, so as to accurately measure the overall noise level generated by the gantry depalletizer during operation.

[0070] MZ′, MY′, and MS′ are the reference speed, cylinder reference pressure, and operating noise limits for the gantry depalletizer, respectively. MC acLet be the depalletizing time corresponding to the c-th operation of the a-th gantry depalletizer. It should be explained that the depalletizing time of the gantry depalletizer mentioned above refers to the time required to complete one depalletizing task.

[0071] MC′ is the depalletizing permit duration for the gantry depalletizer, a is the number of each gantry depalletizer, a = 1, 2, 3, ..., z, z is the number of gantry depalletizers, b is the number of each control time point, b = 1, 2, 3, ..., y, y is the number of control time points, c is the number of each operation, c = 1, 2, 3, ..., x, x is the number of operations, and e is a natural constant.

[0072] Furthermore, the specific analysis process for the AGV transport vehicle's transport scheduling evaluation coefficient is as follows:

[0073] Collect and obtain the functional parameters, battery parameters, and operating environment parameters of each AGV transport vehicle;

[0074] It should be explained that when the aforementioned AGV transport vehicle needs to replenish its power, it will automatically report to the AGV dispatch system and request charging. The AGV dispatch system will then automatically direct the AGV transport vehicle to the designated charging area. The onboard charging connector will automatically connect to the ground charging system and begin charging. After charging is complete, the AGV transport vehicle will automatically disconnect from the charging system and drive to the standby area to resume normal operation. The automatic charging strategy has three modes:

[0075] Low battery mode refers to the system setting a low battery threshold; when the battery level drops below this threshold, the AGV will automatically perform a charging task. Idle mode refers to setting a fixed time period; when the AGV reaches this time, it will automatically perform a charging task. The central control server directly issues the charging task.

[0076] The functional parameters include the emergency braking distance corresponding to each emergency braking during the operation control cycle, as well as the forward speed, backward speed and left and right sway amplitude at each control time point;

[0077] Battery parameters include the number of times the battery protection mechanism responds during the operation control cycle and the output power at each control time point;

[0078] Operating environment parameters include the surface unevenness of the road surface along the path of each AGV transport vehicle at each control time point;

[0079] Extract the emergency braking and skidding limit distance, forward speed limit value, backward speed limit value, left and right swing amplitude allowable value, output limit power, and ground unevenness limit difference of the AGV transport vehicle from the data control library;

[0080] The calculation formula for the AGV transport vehicle's transport scheduling evaluation coefficient is as follows:

[0081]

[0082] in,

[0083]

[0084] In the formula, α2 is the AGV transporter's transport scheduling evaluation coefficient. This coefficient can be calculated not only using the above method but also by specialized equipment. If the sudden braking distance is too long, the AGV may not stop in time, increasing collision and safety risks. Insufficient forward and reverse speeds may prolong task execution time, affecting work efficiency. Excessive swing amplitude may cause the AGV to collide with surrounding obstacles, resulting in damage or blockage. Insufficient output power may prevent the AGV from operating normally under heavy loads or on slopes, leading to task interruption or failure. Excessive ground unevenness may cause the AGV to bump, shake, or even get stuck, affecting its stability and performance. In summary, these values ​​are closely related to the AGV's operating status and require real-time monitoring to ensure its safe, stable, and efficient operation.

[0085] σ1, σ2, and σ3 are the scheduling evaluation values ​​corresponding to the set functional parameters, battery parameters, and operating environment parameters, respectively. F1, F2, and F3 are the scheduling weight coefficients corresponding to the set functional parameters, battery parameters, and operating environment parameters, respectively. and These are the scheduling correction coefficients corresponding to the set functional parameters, battery parameters, and operating environment parameters, respectively, VA fg Let be the emergency braking distance of the f-th AGV transport vehicle during the g-th emergency braking, and VBfb, VCfb, VDfb, and VFfb be the forward speed, reverse speed, left and right swing amplitude, and output power of the f-th AGV transport vehicle at the b-th control time point, respectively.

[0086] It should be explained that the detection device used for the above output power is a power sensor, and the left and right swing amplitude refers to the amplitude or angle of the AGV transport vehicle swinging left and right during operation. It describes the swing range of the AGV transport vehicle in the left and right direction during travel.

[0087] In this embodiment, the power sensor is installed on the output shaft of the motor to measure the output power of the motor, which can accurately obtain the power output of the transport vehicle.

[0088] VGfb represents the surface unevenness of the path taken by the f-th AGV transport vehicle at the b-th control time point. The surface unevenness refers to the degree of undulation or height difference of the ground surface, which describes the degree of unevenness of the ground surface in the horizontal direction, i.e., the depressions and bulges that exist on the ground.

[0089] VEf represents the number of times the battery protection mechanism responds for the f-th AGV transport vehicle. VA′, VB′, VC′, VD′, VF′, and VG′ represent the emergency braking skid limit distance, forward speed limit value, backward speed limit value, permissible left and right swing amplitude, output limit power, and ground unevenness limit difference for the AGV transport vehicle, respectively. VE′ represents the set rated number of times the battery protection mechanism responds. f represents the number of each AGV transport vehicle, f = 1, 2, 3, ..., v, where v is the number of AGV transport vehicles. g represents the number of each emergency braking event, g = 1, 2, 3, ..., u, where u is the number of emergency braking events. b represents the number of each control time point, b = 1, 2, 3, ..., y, where y is the number of control time points. e is a natural constant.

[0090] In one specific embodiment, the present invention determines the operating parameters of the gantry depalletizer, the functional parameters of the AGV transport vehicle, the battery parameters, and the operating environment parameters, comprehensively calculates the abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform, and provides autonomous early warning control prompts for the warehouse management information. This not only reduces the labor costs of warehouse operations, but also improves the quality and accuracy of goods processing, and helps to achieve more reasonable and efficient resource allocation.

[0091] The intelligent control module for cargo transfer is used to transfer cargo in the carriage via loading and unloading AGVs, analyze the selection evaluation values ​​of each pre-execution channel, and select the first channel for cargo transfer.

[0092] Specifically, the first screening channel is used for transporting goods within the carriage. The specific analysis process is as follows:

[0093] The evaluation values ​​of each pre-execution channel are arranged in descending order to select the first channel for cargo transportation.

[0094] In this embodiment, the purpose of using the first screening channel for cargo transport is to deliver the goods to the designated location quickly, accurately, and efficiently, thereby enabling the intelligent warehousing control platform to perform intelligent storage operations on the goods.

[0095] Furthermore, the specific analysis process for selecting the evaluation values ​​for each pre-execution channel is as follows:

[0096] Visual recognition is used to obtain each vacant storage location in the pre-buffer storage area, and an appropriate control storage location is selected according to the preset storage location selection mechanism. At the same time, each pre-execution channel is obtained according to the preset path generation algorithm.

[0097] It should be explained that the above-mentioned storage location selection mechanism refers to the straight-line distance between each vacant storage location and the gantry depalletizer, and selects the storage location with the shortest distance.

[0098] It should be further explained that the aforementioned preset path generation algorithm uses values ​​obtained through detection by specialized equipment.

[0099] Obtain the maximum flatness deviation, maximum curvature of the curve section, and maximum slope of each pre-execution channel during the operation control cycle;

[0100] Simultaneously, the historical operation data of each pre-execution channel was obtained to determine the maximum friction coefficient;

[0101] In this embodiment, the ground values ​​of each of the above pre-execution channels also include ground bearing capacity, concrete pressure, ground surface hardness, ground roughness, joint height difference, and conductive ground resistance.

[0102] Extract the flatness deviation reference value, curve curvature limit value, bearing slope and friction coefficient limit value of the execution channel from the data control library;

[0103] Calculate the selection evaluation value for each pre-execution channel using the following formula:

[0104]

[0105] In the formula, τd is the evaluation value selected for the d-th pre-execution channel. In this embodiment, the evaluation values ​​selected for each of the above pre-execution channels may vary depending on factors. If the ground flatness deviation is too large, it may cause the AGV transport vehicle to bump, shake, or fail to maintain stability during the execution channel process. If the curvature of the curve section is too large, especially when transporting heavy objects or passing through frequently traversed curve areas, it may cause the AGV transport vehicle to slow down in the execution channel, which is not conducive to the transport work of the AGV transport vehicle. If the slope is too large, the AGV transport vehicle may not be able to stably go uphill or downhill, increasing the risk of tipping over or sliding. If the friction coefficient is too low, the AGV transport vehicle may not be able to pull and run well during the execution channel process, resulting in slippage, sliding, or failure to start, which will affect the transport capacity and stability of the AGV transport vehicle. In summary, the friction coefficient, flatness deviation, ground compressive strength, and slope are all factors that need to be considered and managed to ensure the transport status and safety of the AGV transport vehicle in the execution channel.

[0106] CAd, CFD, CG d and CE dThese represent the maximum flatness deviation, maximum curvature of the curve, maximum slope, and maximum friction coefficient measured during historical operation for the d-th pre-execution channel. It should be explained that the curvature of the curve refers to the curvature characteristics of the curved portion of the execution channel. Curvature describes the degree of curvature of a road in the horizontal direction and can be represented by the radius of the curve. That is, the degree of curvature of a curve is inversely proportional to the inverse of its radius. The smaller the radius of curvature, the greater the curvature of the curve, and the greater the steering force required by the AGV to navigate the curve. The friction coefficient refers to the magnitude of the frictional force provided by the execution channel surface to the AGV. It measures the degree of friction between the execution channel surface and the AGV tires. Generally speaking, a higher friction coefficient on the execution channel is better, because a higher friction coefficient can provide more traction and braking force, making it easier for the AGV to accelerate, decelerate, and steer.

[0107] CA′, CF′, CG′, and CE′ represent the reference values ​​for the smoothness deviation of the execution channel, the curvature limit value of the curve section, the slope to be borne, and the friction coefficient limit value, respectively. G1, G2, G3, and G4 represent the selected correction coefficients corresponding to the set maximum smoothness deviation, maximum curvature value of the curve section, maximum slope, and maximum friction coefficient measured in historical operation, respectively. d represents the number of each pre-execution channel, where d = 1, 2, 3, ..., n, and n is the number of pre-execution channels.

[0108] In one specific embodiment, the present invention uses a loading and unloading AGV to transport goods in a cargo compartment, analyzes the flatness, curvature, slope, and friction coefficient of each pre-execution channel, evaluates the selection evaluation value of each pre-execution channel, and selects the first channel for cargo transport. This provides more comprehensive data for subsequent comprehensive judgment of abnormal values ​​in the warehouse management information control of the intelligent warehouse control platform, and can improve the accuracy and consistency of warehouse operations.

[0109] The docking compartment information collection and processing module is used to analyze the activation determination value of the loading and unloading AGV, and the activation determination value of the loading and unloading AGV is used to collect and preprocess the docking compartment information.

[0110] Specifically, the activation determination value for the loading and unloading AGV is obtained through the following data acquisition process:

[0111] The contact line between the boarding bridge and the bottom of the carriage is collected by 3D Sky Eye and recorded as the reference line for the boarding bridge position. The outer line of the bottom of the carriage is scanned and the angle between the reference line for the boarding bridge position and the outer line of the bottom of the carriage is extracted and recorded as the offset angle of the boarding bridge position. At the same time, the maximum interval length between the first and second lateral orientations of the boarding bridge and the corresponding inner side of the vehicle is extracted.

[0112] It should be noted that the first and second lateral orientations of the aforementioned mountain bridge refer to the left and right lateral orientations of the mountain bridge, respectively.

[0113] It needs to be explained that the above-mentioned loading ramp connection is as follows: Figure 4 As shown, the working content of the digital trailer and the new hydraulic lifting platform involved is as follows:

[0114] Starting with receiving the work order and the vehicle parking position, the system uses a 3D monitoring system on the platform to determine the vehicle's height above the ground and provides data on the docking height of the loading ramp. The loading ramp automatically connects the platform and the vehicle, and the loader automatically lifts and supports the vehicle's main beam. After the data from these three components is confirmed by the warehouse control system, the system calls an automated guided vehicle (AGV) to perform the automatic loading operation. This eliminates the manual operation of starting the loader and loading ramp in the warehouse area. It also eliminates the high-difficulty and error-prone manual judgment before loading, which is required to ensure that the connection between the vehicle, loading ramp, and platform meets the conditions for the AGV to enter and exit the vehicle. The robust design of the loading ramp and connecting bridge allows the AGV to pass smoothly without stopping or slowing down. After loading and unloading are completed and the vehicle leaves, the loading ramp and connecting bridge automatically reset. The entire process is an automated closed-loop operation with automatic drive, automatic confirmation, and complete fitting.

[0115] Extract the height difference between the plane height of the hydraulic lifting platform and the bottom height of the carriage, and simultaneously extract the damping coefficients of the first and second intelligent positioning damping blocks pre-set on the platform;

[0116] It should be noted that the aforementioned pre-installed first and second intelligent positioning damping blocks on the platform refer to one damping block on the left and one on the right side of the side wall of the platform, respectively.

[0117] It should be explained that the damping coefficient mentioned above is a parameter describing the efficiency of the damping block in absorbing vibration energy. It refers to the ratio of the energy lost by the system per unit time to the total energy of the vibrating system. The damping coefficient is usually expressed as a percentage. The higher the value, the greater the energy loss of the system and the better the damping effect.

[0118] Obtain the minimum angle between the longest extended central axis of the car floor and the outer edge of the platform, and the angle between the longest extended central axis of the car floor and the vertical centerline of the mountain bridge;

[0119] Extract the position offset angle of the mountain bridge, the maximum interval between the first and second lateral orientations of the mountain bridge and the inner side of the corresponding vehicle from the data control database;

[0120] Therefore, the activation determination value for loading and unloading AGVs is calculated.

[0121] In this embodiment, the loading and unloading AGV is mainly used for unloading meters from the vehicle and automatically transporting meters onto the vehicle.

[0122] It is further necessary to explain that when the aforementioned loading and unloading AGV enters the vehicle compartment of the platform, the accuracy and angle of the vehicle's parking cannot be strictly controlled each time. In order to ensure that the loading and unloading AGV can freely enter and exit the vehicle compartment for different vehicles, different parking angles, and different deviations from the centerline, it is necessary to rely on 3D technology to identify dynamic information data such as the length, width, net depth, centerline of the compartment, and attitude angle of the compartment after parking. This allows the loading and unloading AGV to easily adapt to different attitude angles and centerline deviations when facing unfamiliar parking compartment interior environments, thereby enabling it to enter and exit the compartment for automatic loading and unloading operations.

[0123] It should be noted that the numerical parameters of the loading and unloading AGV mentioned above also include maximum load capacity, fork load value, fork length, vehicle weight, AGV lifting height, minimum width of the AGV right-angle stacking road, unloading accuracy, vertical attitude angle of fork entry with the target cargo, left and right offset from the centerline of the target cargo, battery life, and network latency.

[0124] Furthermore, the specific formula for calculating the activation determination value of the loading and unloading AGV is as follows:

[0125]

[0126] in,

[0127]

[0128] In the formula, β is the activation judgment value for the loading and unloading AGV. It should be explained that, regarding the activation judgment value for the loading and unloading AGV, if the offset angle of the mountain bridge is too large, it may cause the loading and unloading AGV to have difficulty accurately aligning when entering and exiting the truck, increasing the difficulty of loading and unloading. If the lateral position of the mountain bridge and the interval length between the sides and the inside of the truck are not appropriate, it may cause the loading and unloading AGV to have difficulty aligning with the correct position when entering and exiting the truck, thus affecting the accuracy and efficiency of loading and unloading. If there is a difference between the height of the hydraulic lifting platform and the bottom of the truck, the loading and unloading AGV may face height matching problems when entering and exiting the truck, increasing the complexity of loading and unloading. Complexity and risks: If the damping coefficient of the damping block is not appropriate, it may lead to excessive impact force between the loading / unloading AGV and the damping block during the loading / unloading process, causing damage or instability to the loading / unloading AGV and the goods; if the included angle is not set reasonably, it may cause difficulty in turning or instability when the loading / unloading AGV enters or exits the cargo compartment, affecting the smooth progress of loading and unloading; in summary, unreasonable settings of these factors may increase the operational difficulty of loading / unloading AGVs and affect the accuracy, efficiency and safety of loading and unloading. Therefore, it is necessary to fully consider and reasonably configure these factors to improve the utilization rate of loading / unloading AGVs.

[0129] β1, β2, and β3 are the activation evaluation values ​​corresponding to the set mountain bridge judgment information, platform judgment information, and car floor judgment information, respectively. ψ1, ψ2, and ψ3 are the activation weight coefficients corresponding to the set mountain bridge judgment information, platform judgment information, and car floor judgment information, respectively. B1, B2, and B3 are the activation correction coefficients corresponding to the set mountain bridge judgment information, platform judgment information, and car floor judgment information, respectively. NA, NB, and NC are the mountain bridge position offset angle, the maximum distance between the first and second lateral orientations of the mountain bridge and the inner side of the corresponding vehicle, respectively. NA′, NB′, and NC′ are the mountain bridge position offset angle limit value, the first and second lateral orientations of the mountain bridge and the maximum distance limit length between the inner side of the corresponding vehicle, respectively. ND represents the hydraulic lifting... The height difference between the platform plane height and the bottom height of the car body; NF and NG are the damping coefficients of the first and second intelligent positioning damping blocks preset on the platform, respectively; ND′ is the set permissible height difference between the hydraulic lifting platform plane height and the bottom height of the car body; NF′ and NG′ are the set damping coefficient limit values ​​of the first and second intelligent positioning damping blocks preset on the platform, respectively; NH is the minimum angle between the longest extended centerline of the car body floor and the outer edge of the platform; NK is the angle between the longest extended centerline of the car body floor and the vertical centerline of the mountain bridge; NH′ is the set minimum reference angle between the longest extended centerline of the car body floor and the outer edge of the platform; NK′ is the set permissible angle between the longest extended centerline of the car body floor and the vertical centerline of the mountain bridge; e is a natural constant.

[0130] In one specific embodiment, the present invention collects and preprocesses information on the parking carriages, analyzes the matching degree between the loading ramp, hydraulic lifting platform, platform and parking carriage, and evaluates and analyzes the activation judgment value of the loading and unloading AGV. This not only enables real-time determination of whether the parking position of the carriage meets the parking standard, but also improves the visualization and controllability of the parking operation.

[0131] The second aspect of the present invention provides an automated loading and unloading equipment, including: an intelligent warehouse control platform, a gantry depalletizer, an AGV transport vehicle, and a loading and unloading AGV;

[0132] The intelligent warehouse control platform is used to control the automated loading and unloading equipment;

[0133] The gantry depalletizer is used for depalletizing and stacking, and the gantry depalletizer interacts with the AGV transport vehicle.

[0134] The AGV transport vehicle is used to receive cargo transfer instructions from the intelligent warehouse control platform and to transport cargo through the first channel.

[0135] The loading and unloading AGV is used to unload and transport materials from the vehicle to the truck.

[0136] Pressure sensors are used to acquire the cylinder pressure of each gantry depalletizer at each control time point;

[0137] Sound level meters are used to obtain the operating noise of each gantry depalletizer at each control time point;

[0138] Power sensors are used to obtain the output power of each AGV transport vehicle at each control time point.

[0139] In one specific embodiment, the present invention provides an automated loading and unloading warehouse control system and its loading and unloading equipment. First, it collects and preprocesses information on the docking carriages to determine whether the loading and unloading AGV has been successfully activated. Second, it screens the first channel for the transfer of goods in the carriages. It comprehensively calculates abnormal values ​​of the warehouse management information control of the intelligent warehouse control platform and provides autonomous early warning control prompts for the warehouse management information. This facilitates the rapid loading and unloading of goods and warehouse operations, and greatly improves the efficiency of intelligent warehousing.

[0140] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An automated loading and unloading warehouse control system, characterized in that, include: The docking compartment information collection and processing module is used to analyze the activation judgment value of the loading and unloading AGV. The activation judgment value of the loading and unloading AGV is used to collect and preprocess the docking compartment information. The intelligent control module for cargo transfer uses loading and unloading AGVs to transfer cargo in the carriage. Based on the maximum flatness deviation, maximum curvature of the curve section, maximum slope, and maximum friction coefficient of each pre-execution channel during the operation control cycle, the module analyzes the selection evaluation value of each pre-execution channel and selects the first channel for cargo transfer. The warehouse management information comprehensive judgment module is used to comprehensively calculate the abnormal values ​​of warehouse management information control of the intelligent warehouse control platform based on the operation status evaluation coefficient calculated according to the operating parameters of the gantry depalletizer and the handling scheduling evaluation coefficient calculated according to the functional parameters, battery parameters and operating environment parameters of the AGV transport vehicle, and to provide autonomous early warning control prompts for warehouse management information.

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

3. The automatic loading and unloading warehouse control system according to claim 1, characterized in that: The specific formula for calculating abnormal values ​​in the warehouse management information control of the intelligent warehouse control platform is as follows: , In the formula, To control abnormal values ​​in warehouse management information of the intelligent warehouse control platform, The operating status evaluation coefficient for the gantry depalletizer is... This is the evaluation coefficient for the handling and scheduling of AGV transport vehicles. and These are the execution weight factors corresponding to the set operation status evaluation coefficient and the transportation scheduling evaluation coefficient, respectively, where e is a natural constant.

4. An automatic loading and unloading warehouse control system according to claim 3, characterized in that: The specific analysis process for the operating status evaluation coefficient of the gantry depalletizer is as follows: The set operation control cycle is deployed as each control time point, and the operation parameters of each gantry depalletizer are obtained, including the servo motor speed, cylinder pressure and operation noise at each control time point. At the same time, the depalletizing time of each operation of each gantry depalletizer within the set operating control cycle is statistically analyzed. Extract the servo motor reference speed, cylinder reference pressure, operating noise limit value, and depalletizing permit duration of the gantry depalletizer from the data control library; The operating status evaluation coefficient of the gantry depalletizer is calculated using the following formula: , in, ， In the formula, The operating status evaluation coefficient for the gantry depalletizer is... and These are the set equipment performance and the corresponding operational evaluation values ​​for the destacking operation. and These are the set weighting coefficients for equipment performance and destacking operations, respectively. and These are the set correction coefficients for equipment performance and operational evaluation corresponding to destacking operations. , and The values ​​represent the servo motor speed, cylinder pressure, and operating noise of the a-th gantry depalletizer at the b-th control time point. , and These are the reference speed, cylinder reference pressure, and operating noise limits for the gantry depalletizer / palletizer. Let c be the depalletizing time for the c-th operation of the a-th gantry depalletizer. This refers to the depalletizing permit duration for the gantry depalletizer, where 'a' is the serial number of each gantry depalletizer. z represents the number of gantry depalletizers and b represents the control time point number. y represents the number of control time points, and c represents the number of each operation. x represents the number of assignments, and e is a natural constant.

5. An automatic loading and unloading warehouse control system according to claim 3, characterized in that: The specific analysis process for the AGV transport vehicle's transport scheduling evaluation coefficient is as follows: Collect and obtain the functional parameters, battery parameters, and operating environment parameters of each AGV transport vehicle; The functional parameters include the emergency braking distance corresponding to each emergency braking during the operation control cycle, as well as the forward speed, backward speed and left and right sway amplitude at each control time point; Battery parameters include the number of times the battery protection mechanism responds during the operation control cycle and the output power at each control time point; Operating environment parameters include the surface unevenness of the road surface along the path of each AGV transport vehicle at each control time point; Extract the emergency braking and skidding limit distance, forward speed limit value, backward speed limit value, left and right swing amplitude allowable value, output limit power, and ground unevenness limit difference of the AGV transport vehicle from the data control library; The calculation formula for the AGV transport vehicle's transport scheduling evaluation coefficient is as follows: , in, ， In the formula, This is the evaluation coefficient for the handling and scheduling of AGV transport vehicles. , and These are the scheduling evaluation values ​​corresponding to the set functional parameters, battery parameters, and operating environment parameters, respectively. , and These are the scheduling weight coefficients corresponding to the set functional parameters, battery parameters, and operating environment parameters, respectively. , and These are the scheduling correction coefficients corresponding to the set functional parameters, battery parameters, and operating environment parameters, respectively. Let f be the emergency braking distance of the f-th AGV transport vehicle during the g-th emergency braking. , , and These represent the forward speed, reverse speed, left and right swing amplitude, and output power of the f-th AGV at the b-th control time point. Let f be the surface unevenness along the path of the f-th AGV transport vehicle at the b-th control time point. Let f be the number of times the battery protection mechanism of the f-th AGV transport vehicle responds. , , , , and These are the emergency braking and skidding limit distance, forward speed limit, reverse speed limit, permissible left and right swing amplitude, output power limit, and ground unevenness limit for the AGV transporter. The set number of times the battery protection mechanism can respond, where f is the number of each AGV transport vehicle. v represents the number of AGV transport vehicles, and g represents the number of each emergency stop. Where u represents the number of emergency braking operations, and b represents the control time point number. y represents the number of control time points, and e is a natural constant.

6. An automatic loading and unloading warehouse control system according to claim 1, characterized in that: The first screening channel is used for transporting goods within the carriage. The specific analysis process is as follows: The evaluation values ​​of each pre-execution channel are arranged in descending order to select the first channel for cargo transportation.

7. An automatic loading and unloading warehouse control system according to claim 6, characterized in that: The specific analysis process for selecting the evaluation values ​​of each pre-execution channel is as follows: Visual recognition is used to obtain each vacant storage location in the pre-buffer storage area, and an appropriate control storage location is selected according to the preset storage location selection mechanism. At the same time, each pre-execution channel is obtained according to the preset path generation algorithm. Obtain the maximum flatness deviation, maximum curvature of the curve section, and maximum slope of each pre-execution channel during the operation control cycle; Simultaneously, the historical operation data of each pre-execution channel was obtained to determine the maximum friction coefficient; Extract the flatness deviation reference value, curve curvature limit value, bearing slope and friction coefficient limit value of the execution channel from the data control library; Calculate the selection evaluation value for each pre-execution channel using the following formula: , In the formula, The evaluation value selected for the d-th pre-execution channel. , , and These represent the maximum flatness deviation, maximum curvature of the curve section, maximum slope, and maximum friction coefficient measured during historical operation for the d-th pre-execution channel. , , and These are the reference values ​​for the flatness deviation of the execution channel, the curvature limit value for the curved section, the withstand slope, and the limit value for the friction coefficient. , , and These are the selection correction coefficients corresponding to the set maximum flatness deviation, maximum curvature of the curve section, maximum slope, and the maximum friction coefficient measured in historical operation, respectively, where d is the number of each pre-execution channel. , where n is the number of pre-execution channels.

8. An automatic loading and unloading warehouse control system according to claim 1, characterized in that: The activation determination value for the loading and unloading AGV is obtained through the following data acquisition process: The contact line between the boarding bridge and the bottom of the carriage is collected by 3D Sky Eye and recorded as the reference line for the boarding bridge position. The outer line of the bottom of the carriage is scanned and the angle between the reference line for the boarding bridge position and the outer line of the bottom of the carriage is extracted and recorded as the offset angle of the boarding bridge position. At the same time, the maximum interval length between the first and second lateral orientations of the boarding bridge and the corresponding inner side of the vehicle is extracted. Extract the height difference between the plane height of the hydraulic lifting platform and the bottom height of the carriage, and simultaneously extract the damping coefficients of the first and second intelligent positioning damping blocks pre-set on the platform; Obtain the minimum angle between the longest extended central axis of the car floor and the outer edge of the platform, and the angle between the longest extended central axis of the car floor and the vertical centerline of the mountain bridge; Extract the position offset angle of the mountain bridge, the maximum interval between the first and second lateral orientations of the mountain bridge and the inner side of the corresponding vehicle from the data control database; Therefore, the activation determination value for loading and unloading AGVs is calculated.

9. An automatic loading and unloading warehouse control system according to claim 8, characterized in that: The activation determination value for the loading and unloading AGV is calculated using the following formula: , in, ， In the formula, The activation criteria for loading and unloading AGVs. , and These are the activation evaluation values ​​corresponding to the set judgment information for the mountain bridge, platform, and carriage floor, respectively. , and These are the activation weight coefficients corresponding to the set judgment information for the mountain bridge, the platform, and the carriage floor. , and These are the activation correction coefficients corresponding to the set judgment information for the mountain bridge, platform, and carriage floor, respectively. , and These are the offset angle of the mountain bridge, the maximum distance between the first and second lateral orientations of the mountain bridge and the inner side of the corresponding vehicle, respectively. , and These are the defined values ​​for the offset angle of the mountain bridge position, and the maximum interval between the first and second lateral orientations of the mountain bridge and the inner side of the corresponding vehicle. This refers to the height difference between the horizontal plane of the hydraulic lifting platform and the bottom of the vehicle body. and These are the damping coefficients of the first and second intelligent positioning damping blocks pre-installed on the platform. The permissible height difference between the set plane height of the hydraulic lifting platform and the bottom height of the vehicle body. and These are the damping coefficient thresholds for the first and second intelligent positioning damping blocks preset on the platform, respectively. It is the minimum angle between the longest extended central axis of the carriage floor and the outer edge of the platform. The angle between the longest extended central axis of the carriage floor and the vertical centerline of the mountain bridge. The minimum reference angle between the longest extended centerline of the carriage floor and the outer edge of the platform is defined. Let e ​​be the permissible angle between the longest extended central axis of the carriage floor and the vertical centerline of the mountain bridge, where e is a natural constant.

10. An automatic loading and unloading equipment, applied to the automatic loading and unloading warehouse control system according to any one of claims 1-9, characterized in that: include: Intelligent warehouse control platform, gantry depalletizer, AGV transport vehicle and loading / unloading AGV; The intelligent warehouse control platform is used to control the automated loading and unloading equipment; The gantry depalletizer is used for depalletizing and stacking, and the gantry depalletizer interacts with the AGV transport vehicle. The AGV transport vehicle is used to receive cargo transfer instructions from the intelligent warehouse control platform and to transport cargo through the first channel. The loading and unloading AGV is used to realize the function of unloading goods from the AGV transport vehicle and transporting them to the truck. Pressure sensors are used to acquire the cylinder pressure of each gantry depalletizer at each control time point; Sound level meters are used to obtain the operating noise of each gantry depalletizer at each control time point; Power sensors are used to obtain the output power of each AGV transport vehicle at each control time point; The intelligent warehouse control platform is also used to calculate the operating status evaluation coefficient of the gantry depalletizer based on the parameters obtained by the pressure sensor and the sound level meter, and to calculate the handling scheduling evaluation coefficient of the AGV transport vehicle based on the parameters obtained by the power sensor, and to calculate the warehouse management information control anomaly value according to the operating status evaluation coefficient and the handling scheduling evaluation coefficient.

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