Box-type logistics conveying system between low-floor vertical shafts and control method

Abstract

The invention discloses a box type logistics conveying system and method.The system comprises a vertical shaft, a vertical shaft lifting ladder, an intelligent double-layer receiving and dispatching station and a control system, the vertical shaft lifting ladder comprises a landing door, an automatic fireproof rolling shutter door, a through type lift car conveyor and a logistics box, and the through type lift car conveyor is provided with a positioning blocking anti-falling mechanism; the linear ladders are controlled by the control system to run to the intelligent double-layer receiving and dispatching stations of all floors, logistics boxes are transported among all the intelligent double-layer receiving and dispatching stations through the through-type lift car conveyors, the sorting and conveying efficiency of the box type logistics system is improved, meanwhile, the invention provides a box type logistics conveying method among the low-floor vertical shafts, and the transportation efficiency of the logistics boxes among the intelligent double-layer receiving and dispatching stations is improved. A scheduling game model of the box-type logistics conveying system is constructed, the model is solved by utilizing a self-adaptive genetic algorithm, an optimal transportation strategy combination of the pass-type lift car conveyor is obtained, the working efficiency of the pass-type lift car two-way conveyor is improved, and the sorting and conveying time of the system is further shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment transportation, and more specifically, to a low-floor vertical shaft box-type logistics conveying system and a control method. Background Art

[0002] As modern hospitals are becoming larger and smarter, the demand for in-hospital materials such as medicines, infusions, and consumables and the timeliness of delivery are high. The traditional manual material handling mode is no longer compatible with the needs of hospitals. The use of automated logistics delivery systems in hospitals has gradually become popular. Among them, the hospital box-type logistics transmission system has greatly improved the transmission efficiency of many hospital materials. The hospital box-type logistics system is mainly composed of two systems: the shaft module and the linear ladder and the shaft external transceiver station. Among them, the sorting efficiency of the shaft through-type car conveyor sorting system is particularly important in the operation of the entire system.

[0003] In the patent document with application number "CN202021303841.7", a box-type logistics shaft transmission mechanism is disclosed. Although it solves the problem of independent transfer of goods in large office buildings, the device in this patent can only perform single-channel two-way transportation, and the transfer platform has only one layer. Only a single shipment and receipt of goods can be carried out at a time. When the demand for goods is large, the cargo warehouse and transfer platform can only be lifted or lowered frequently, which is not only inefficient, but also easy to cause excessive wear of these equipment. Once the transfer platform fails, the entire system will be paralyzed, affecting the reliability of the system.

[0004] At the same time, in the existing hospital box logistics system, most of the transportation tasks of the through-type car conveyor are arranged based on the order of task initiation. Since the daily cargo receiving and sending needs of the receiving and sending stations on each floor of the hospital are random, the existing control method of the through-type car conveyor is not efficient, and the need for the receiving and sending stations on each floor wastes too much waiting time. How to achieve rapid transportation of goods from the pharmacy warehouse to the receiving and sending stations on each destination floor within a unit time, optimize the sorting of the transportation tasks of the through-type car conveyor, and improve the transportation efficiency of the through-type car conveyor, thereby improving the sorting efficiency of the through-type car conveyor sorting system, which is of great significance to improving the work efficiency and economy of the entire hospital box logistics system and reducing carbon emissions.

[0005] Based on the above background, the present invention proposes a box-type logistics transportation system and method between low-floor shafts to solve the above technical problems. Summary of the invention

[0006] The object of the present invention is to provide a box-type logistics conveying system between low-floor shafts to solve the problems in the prior art of low transportation efficiency and low system reliability of single-channel two-way transportation box-type logistics shaft mechanisms. On the other hand, the present invention provides a box-type logistics conveying method between low-floor shafts to improve the transportation efficiency of a through-type car conveyor, thereby improving the sorting efficiency of a through-type car conveyor sorting system.

[0007] To achieve the above object, the present invention provides a box-type logistics conveying system between low-rise shafts, the steps of which include:

[0008] A vertical shaft, which runs through each floor of the building, is provided with two parallel guide rails in the vertical shaft, a traction motor is provided at the top of the vertical shaft, and each floor of the vertical shaft is provided with a passage opening communicating with each floor;

[0009] A linear ladder, wherein the linear ladder is slidably connected to the two guide rails and connected to the traction motor via a traction rope, the linear ladder comprises a car and four through-type car bidirectional conveyors, wherein the four through-type conveyors are arranged up and down on the car in groups of two;

[0010] An intelligent double-layer transceiver station, comprising a first two-way transport component and a second two-way transport component, wherein the first two-way transport component is located above the second two-way transport component, one end of the first two-way transport component and the second two-way transport component respectively correspond to the passage opening, and an openable and closable automatic fireproof door is provided between the intelligent double-layer transceiver station and the passage opening;

[0011] A control system is respectively connected with the traction motor, the through-type two-way transport car conveyor, the intelligent double-layer transceiver station, and the automatic fire door.

[0012] Preferably, the above technical solution also includes a shuttle machine, which includes a third two-way transport component and a fourth two-way transport component which are arranged up and down, one end of the third two-way transport component corresponds to one end of the first two-way transport component, and the other end thereof corresponds to the passage opening, and one end of the fourth two-way transport component corresponds to one end of the second two-way transport component, and the other end thereof corresponds to the passage opening.

[0013] Preferably, in the above technical solution, four logistics boxes are also included, and RFID electronic tags are provided inside the boxes.

[0014] Preferably, in the above technical solution, two anti-falling mechanisms are symmetrically provided at the top of the car on each floor, and the anti-falling mechanism includes a servo and an infrared tube, and a gear lever is connected to one end of the servo, and the servo can drive the gear lever to rotate toward the through-type car bidirectional conveyor, and the anti-falling mechanism is connected to the control system.

[0015] Preferably, in the above technical solution, a photoelectric switch is provided at the upper end of the passage opening inside the shaft, and the photoelectric switch is connected to the control system.

[0016] Preferably, in the above technical solution, the vertical shaft has a 5-layer structure, each layer of the vertical shaft corresponds to each floor of the building, an intelligent double-layer transceiver station is provided on both sides of each layer of the vertical shaft, and a shuttle machine is provided at the passage entrance of the vertical shaft from the 2nd to the 5th floor and the intelligent double-layer transceiver station.

[0017] At the same time, the present invention provides a control method for a box-type logistics system between low-floor shafts, which is implemented by a box-type logistics conveying system between low-floor shafts in the above technical solution, and the specific steps include:

[0018] (1) Establish the transportation task set J within a unit time m

[0019] The intelligent double-layer transceiver stations on both sides of the shaft on the first floor are set as the initiating stations, and the intelligent double-layer transceiver stations on both sides of the shaft from the second floor to the fifth floor are set as the receiving stations. The transportation task of each receiving station in unit time is obtained. The transportation task is the number of logistics boxes at the receiving station. The transportation task set J of all receiving stations in unit time is established. m :

[0020] J m={j1,j2,…,j x ,…,j8} (1)

[0021]

[0022] Among them, j x represents the transportation task of the xth receiving station in unit time, 1≤x≤8, represents the transportation task of the nth logistics box at the xth receiving station, k represents the weight factor, k = 1, 2;

[0023] (2) According to the transportation task set J within a unit time m , a scheduling game model of the box-type logistics transportation system is constructed, and its expression is:

[0024] G=(D i ,S i ,U i ) (3)

[0025] Where i = 1, 2, 3, 4, D i represents a player in a game consisting of four through-car bidirectional conveyors, S i Indicates D iThe set of optional transportation strategies for transporting the logistics box from the initiating site to the destination receiving site according to the transportation task set, S i ={s 11 ,s 12 ,…,s xn}, where 1≤i≤4, transportation strategy s xn Indicates a through-type car bidirectional conveyor D i Complete the transportation task of the nth logistics box at the xth receiving station, U i Indicates D i The profit function is expressed as:

[0026]

[0027] In the formula, It represents the transport strategy combination determined by four through-car bidirectional conveyors (D1, D2, D3, D4). Indicates a through-type car bidirectional conveyor D i In the transport strategy portfolio Passive transport time under D i The time to complete the transport task.

[0028] (3) The adaptive genetic algorithm is used to solve the scheduling game model of the box-type logistics transportation system and obtain the Nash equilibrium solution of the model. The Nash equilibrium solution is that four through-type car bidirectional conveyors (D1, D2, D3, and D4) complete the transportation task set J. m The optimal transportation strategy combination.

[0029] Preferably, in the above technical solution, in step (3), the expression of the Nash equilibrium solution of the scheduling game theory model of the box-type logistics transportation system is:

[0030]

[0031] The meaning of this formula refers to the through-type car bidirectional conveyor D i Select a shipping strategy combination The profit obtained when D is greater than or equal to other transport strategy combinations, when the through-type car bidirectional conveyor D i When changing one's own action strategy alone, no one can achieve a better result than the transportation strategy combination. Better returns.

[0032] Preferably, in the above technical solution, in step (3), the specific steps of using the adaptive genetic algorithm to solve the scheduling game model of the box-type logistics transportation system include:

[0033] (3-1) Using the adaptive genetic algorithm, the transport strategy combination set of the four through-car bidirectional conveyors (D1, D2, D3, and D4) in the scheduling game model is Perform unified encoding and initialization to obtain

[0034] (3-2) A bidirectional conveyor with through-cars for dispatching game models i The income of i , and obtain the fitness value of each transportation strategy combination The calculation function of the fitness value is:

[0035]

[0036] In the formula, k represents the number of iterations, U j Indicates that there is only one through-type car bidirectional conveyor D j After completing the revenue of the transportation task set, δ indicates stopping the iterative calculation coefficient.

[0037] (3-3) Using genetic algorithm to analyze the transportation strategy combination set Perform roulette method selection, double-cut point crossover operation, and mutation operation to obtain a new combination set of transportation strategies

[0038] (3-4) Go to step (3-2) and get the calculation of (U1, U2, U3, U4),

[0039] (3-5) Set the number of iterations n, repeat steps (3-2) to (3-4), and convert the transport strategy combination set It is used to calculate the Nash equilibrium solution of the scheduling game model. According to the Nash equilibrium solution, the optimal transportation strategy combination is obtained. Here, g represents the number of stop iterations. The value of g is determined by the specified number of iterations n and formula (7) of step (3-2).

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The present invention is provided with passage openings at both ends of each vertical shaft, and each passage opening corresponds to an intelligent double-layer transceiver station. The intelligent double-layer transceiver station includes a first two-way transport component and a second two-way transport component. The first two-way transport component is located above the second two-way transport component. Four through-type car two-way transport machines are arranged in the straight ladder, and are arranged up and down in the car of the straight ladder in a group of two. Each through-type car two-way transport machine corresponds to a logistics box. The through-type car two-way transport machine on the upper layer corresponds to the first two-way transport component of the intelligent double-layer transceiver station, and the through-type car two-way transport machine on the lower layer corresponds to the second two-way transport component of the intelligent double-layer transceiver station, thereby realizing dual-channel two-way transportation of the logistics box. The first two-way transport component and the second two-way transport component of the intelligent double-layer transceiver station can both be set as a receiving layer or a shipping layer, which can effectively improve the sorting ability and efficiency of the system.

[0042] 2. The present invention establishes the transportation tasks of the box-type logistics transportation system between the low-floor shafts within a unit time, and establishes a scheduling game model of the box-type logistics transportation system according to the transportation tasks, and uses an adaptive genetic algorithm to solve the Nash equilibrium solution of the scheduling model. According to the Nash equilibrium solution, the optimal transportation strategies of the four through-type car bidirectional conveyors are respectively obtained, thereby improving the transportation efficiency of the four through-type car bidirectional conveyors and making the load of each through-type car bidirectional conveyor uniform, reducing the failure rate of the through-type car bidirectional conveyors, thereby improving the overall transportation efficiency of the system and effectively reducing the transportation time of the logistics boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is the overall structural diagram of the box-type logistics conveying system between low-floor vertical shafts of the present invention.

[0044] Figure 2 It is a car structure diagram of the box-type logistics conveying system between low-floor vertical shafts of the present invention.

[0045] Figure 3 It is a structural schematic diagram of a through-type car bidirectional conveyor of a box-type logistics conveying system between low-floor shafts of the present invention.

[0046] Figure 4 It is a structural schematic diagram of an intelligent double-layer transceiver station of a box-type logistics conveying system between low-floor vertical shafts of the present invention.

[0047] Figure 5 It is a schematic diagram of the structure of the automatic fire door of the box-type logistics conveying system between the low-floor vertical shafts of the present invention.

[0048] Figure 6 It is a working sequence diagram of the box-type logistics system between the low-floor vertical shafts of the present invention.

[0049] Figure 7It is a program flow chart of the control method of the low-floor vertical shaft box-type logistics system of the present invention.

[0050] In the figure: 1-shaft, 2-guide rail, 3-straight ladder, 4-shuttle machine, 5-automatic fire door, 6-traction motor, 7-traction rope, 8-intelligent double-layer transceiver station, 9-travel switch, 10-car, 11-through two-way transport car conveyor, 12-photoelectric switch, 13-anti-fall mechanism, 14-card reader, 15-first two-way transport component, 16-second two-way transport component, 17-third two-way transport component, 18-fourth two-way transport component. DETAILED DESCRIPTION

[0051] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the invention is not limited by the specific implementation modes.

[0052] refer to Figures 1 to 5The present invention provides a box-type logistics transportation system between low-rise shafts, the system comprising a shaft 1, a linear ladder 3, an intelligent double-layer transceiver station 8, a logistics box and a control system, wherein the shaft 1 runs through each floor of the building, and two parallel guide rails 2 are arranged in the shaft 1, a traction motor 6 is arranged at the top of the shaft 1, and the shaft 1 is provided with passage openings communicating with each floor on each floor. In the present embodiment, the shaft 1 is specifically a 5-layer structure, and each floor of the shaft 1 corresponds to each floor of the building, and each passage opening is provided with a grating sensor 10, and each floor of the shaft 1 is provided with an intelligent double-layer transceiver station 8 on both sides, and the intelligent double-layer transceiver station 8 comprises a first two-way transport component 15 and a second two-way transport component 16, the first two-way transport component 15 is located above the second two-way transport component 16, and one end of the first two-way transport component 15 and the second two-way transport component 16 respectively corresponds to the passage openings. The linear ladder 3 is slidably connected to the two guide rails 2 and is connected to the traction motor 6 through the traction rope 7. The control system is connected to the traction motor 6. The control system controls the rotation of the traction motor 6 to achieve the ascent or descent of the linear ladder 3. The straight elevator 3 includes a car 10 and a through-type car two-way conveyor 11. There are four through-type car two-way conveyors 11, which are arranged up and down in the car 10 in a group of two. Each through-type car two-way conveyor 11 corresponds to a logistics box. The through-type car two-way conveyor 11 is connected to the control system. The control system drives the through-type car two-way conveyor 11 to realize two-way transportation of the logistics box. The intelligent double-layer transceiver station 8 is connected to the control system. The control system drives the first two-way transportation component 15 and the second two-way transportation component 16 of the intelligent double-layer transceiver station 8 to realize two-way transportation through the control system, so as to realize the sending and receiving of the logistics box. In cooperation with the through-type car two-way conveyor 11, dual-channel two-way transportation of the logistics box is realized, which effectively improves the transportation efficiency of the logistics box. In this embodiment, the through-type car two-way conveyor 11 can be an electric roller two-way conveyor, and the first two-way transportation component 15 and the second two-way transportation component 16 of the intelligent double-layer transceiver station 8 can be electric roller two-way conveyors.

[0053] refer to Figure 2 A plurality of photoelectric switches 12 for sensing the position of the logistics box are provided on the through-type car bidirectional conveyor 11. The photoelectric switches 12 are connected to the control system. The control system determines the position of the logistics box in the car 10 by detecting the switch signal of the photoelectric switch 12.

[0054] refer to Figure 3Two anti-falling mechanisms 13 are symmetrically arranged at the top of the car 10. The anti-falling mechanism 13 includes a steering gear and an infrared pair of tubes. A gear lever is connected to one end of the steering gear. The steering gear can drive the gear lever to rotate toward the through-type car two-way conveyor 11. The anti-falling mechanism 13 is connected to the control system. During transportation, the control system drives the steering gear of the anti-falling mechanism 13 to drive the gear lever to rotate toward the through-type car two-way conveyor 11 to prevent the logistics box from falling, thereby ensuring the safety of the logistics box during transportation. During unloading, after the infrared pair of tubes of the anti-falling mechanism 13 senses the logistics box, the control system drives the steering gear of the anti-falling mechanism 13 to drive the gear lever to retract, so that the logistics box can be transported to the intelligent double-layer transceiver station 8 on the destination floor through the car 10.

[0055] refer to Figure 4 In this embodiment, the first two-way transport component 15 and the second two-way transport component 16 of the intelligent double-layer transceiver station 8 are provided with a card reader 14 for reading the RFID electronic tag of the logistics box. The card reader 14 is connected to the control system. The control system reads the RFID electronic tag information of the logistics box through the card reader 14, so that the intelligent double-layer transceiver station 8 can accurately receive the logistics box and record it.

[0056] Continue to refer Figure 1 In the box-type logistics transportation system between the low-floor shafts in this embodiment, a shuttle machine 4 is provided between the passage openings on both sides of the shaft 1 from the 2nd floor to the 5th floor and the intelligent double-layer transceiver station 8. The shuttle machine 4 includes a third two-way transport component 17 and a fourth two-way transport component 18 arranged up and down. One end of the third two-way transport component 17 corresponds to one end of the first two-way transport component 15 of the intelligent double-layer transceiver 8, and the other end corresponds to the passage opening. One end of the fourth two-way transport component 18 corresponds to one end of the second two-way transport component 16, and the other end corresponds to the passage opening. The shuttle machine 4 is connected to the control system, and the control system drives the shuttle machine 4 to work, thereby realizing the bridge transportation of the logistics box from the passage opening to the intelligent double-layer transceiver station 8. The shuttle machine 4 is used as the connection between the shaft 1 and the intelligent double-layer transceiver station 8, thereby reducing the occupation of the building space by the shaft 1. In this embodiment, the third two-way transport component 17 and the fourth two-way transport component 18 of the shuttle machine 4 can be electric roller-type two-way conveyors.

[0057] Further, refer to Figure 1 and Figure 6 Based on the low-floor vertical shaft box-type logistics conveying system of this embodiment, the present invention proposes a low-floor vertical shaft box-type logistics conveying system control method, including the following steps:

[0058] (1) Establish the transportation task set J within a unit time m

[0059] The intelligent double-layer transceiver stations 8 on both sides of the shaft on the first floor are set as initiating stations, and the intelligent double-layer transceiver stations 8 on both sides of the shaft from the second floor to the fifth floor are set as receiving stations. The transportation task of each receiving station in unit time is obtained. The transportation task is the number of logistics boxes at the receiving station. The transportation task set J of all receiving stations in unit time is established. m :

[0060] J m ={j1,j2,…,j x ,…,j8} (1)

[0061]

[0062] Among them, j x represents the transportation task of the xth receiving station in unit time, 1≤x≤8, It represents the nth logistics box transportation task of the xth receiving station, k represents the weight factor, k=1,2, the larger the value of the weight factor, the higher the priority of the transportation task, and it will be completed first during execution.

[0063] In specific implementation, the initiating site is recorded as A i , the two initiating sites are A1 and A2, and the receiving site is M i The receiving stations from the 2nd to the 5th layer are M1, M2, M 3、 M4, M5, M6, M7, M8.

[0064] (2) According to the transportation task set J within a unit time m , a scheduling game model of the box-type logistics transportation system is constructed, and its expression is:

[0065] G=(D i ,S i ,U i ) (3)

[0066] Where i = 1, 2, 3, 4, D i The game player S is composed of four through-car bidirectional conveyors 11. i Indicates D i According to the transportation task set, the transportation strategy set of the transportation logistics box from the initiation site to the destination receiving site is selected, S i ={s 11 ,s 12 ,…,s xn}, where 1≤i≤4, transportation strategy s xn Indicates a through-type car bidirectional conveyor D i Complete the transportation task of the nth logistics box at the xth receiving station, U i Indicates D iThe profit function is expressed as:

[0067]

[0068] In the formula, It represents the transport strategy combination determined by four through-car bidirectional conveyors (D1, D2, D3, D4). Indicates a through-type car bidirectional conveyor D i In the transport strategy portfolio Passive transport time, T i D i The time to complete the transport task;

[0069] (3) An adaptive genetic algorithm is used to solve the scheduling game model of the box-type logistics transportation system and obtain the Nash equilibrium solution of the model, which is the optimal transportation strategy combination for four through-type car bidirectional conveyors (D1, D2, D3, and D4) to complete the transportation task set.

[0070] Specifically, the Nash equilibrium solution of the scheduling game theory model is expressed as:

[0071]

[0072] The meaning of this formula refers to the through-type car bidirectional conveyor D i Select a shipping strategy combination The profit obtained when D is greater than or equal to other transport strategy combinations, when the through-type car bidirectional conveyor D i When changing one's own action strategy alone, no one can achieve a better result than the transportation strategy combination. Better returns.

[0073] Among them, the specific steps of using adaptive genetic algorithm to solve the scheduling game model of box-type logistics transportation system include:

[0074] (3-1) Using the adaptive genetic algorithm, the transport strategy combination set of the four through-car bidirectional conveyors (D1, D2, D3, and D4) in the scheduling game model is Perform unified encoding and initialization to obtain

[0075] Specifically, the transport strategy combination set of the four through-car bidirectional conveyors (D1, D2, D3, D4) is The encoded chromosomes for:

[0076]

[0077] in, The transport task set consisting of the transport tasks of each receiving station, List2 = {D 1, ,D2,…,D1,…,D i} represents a through-type car bidirectional conveyor set.

[0078] (3-2) Used to calculate the scheduling game model and obtain the fitness value of each transportation strategy combination The calculation function of the fitness value is:

[0079]

[0080] In the formula, k represents the number of iterations, U j Indicates that there is only one through-type car bidirectional conveyor D j After completing the revenue of the transportation task set, δ indicates stopping the iterative calculation coefficient.

[0081] (3-3) Using genetic algorithm to analyze the transportation strategy combination set Perform roulette method selection, double-cut point crossover operation, and mutation operation to obtain a new combination set of transportation strategies

[0082] The roulette wheel selection process is as follows: The fitness value of each transportation strategy combination in the total fitness value is calculated, and then the proportion of the fitness of each transportation strategy combination to the total fitness value, that is, the selection probability of the transportation strategy combination, is calculated. A random number between 0 and 1 is generated. Starting from the first transportation strategy combination, the selection probability of each transportation strategy combination is accumulated. When the accumulated probability value of the transportation strategy combination is greater than or equal to the random number, the transportation strategy combination is selected. By repeating this process, a new strategy combination set is formed, and individuals with high fitness values ​​of transportation strategies are screened out, so that the genetic algorithm evolves towards a better solution.

[0083] (3-4) Set the number of iterations n, repeat steps (3-2) to (3-3), and convert the transport strategy combination set It is used to calculate the Nash equilibrium solution of the scheduling game model. According to the Nash equilibrium solution, the optimal transportation strategy combination set is obtained, where g represents the number of stop iterations, and the value of g is determined by the specified number of iterations n and formula (7) of step (3-2).

[0084] refer to Figure 7 Specifically, in step (2), T i The calculation formula is:

[0085]

[0086] In the formula, t1 represents the time from the starting site to the shaft entrance, t2 represents the time from the shaft entrance to a through-type car bidirectional conveyor, k1 and k2 are bridge coefficients, with values ​​of (0,1), x i Indicates the floor of the destination receiving station, 2≤x i ≤5, t3 represents the time it takes for a logistics box to pass through a shuttle, t4 represents the time it takes for a logistics box to complete transportation from the shuttle to the receiving station, and n represents the time it takes for a logistics box to complete transportation in the transportation task set J m Middle D i The number of times it was called;

[0087] The calculation formula is:

[0088]

[0089] Where k3 is the bridge coefficient, which is (0,1), and n represents the m Middle D i The number of times it was called;

[0090] Complete the transport mission set J m The total time is calculated as:

[0091]

[0092] In the formula, δ represents the time required to complete the transportation task set J. m The time shared by the four through conveyors 11.

[0093] In the specific implementation, it is assumed that t1=30(S), t2=20(S), t3=50(S), t4=80(S), and t5=30(S).

[0094] Taking 10 minutes as a unit time, the transportation content corresponding to the transportation task set J1 is as shown in the following table:

[0095]

[0096] According to step (1), the parameters in J1 are Where j1 represents the two logistics box transportation tasks of the receiving station M1. Indicates the first logistics box transportation task, Represents the second logistics box transportation task. Genetic algorithm is used to randomly generate an initial transportation strategy combination set of the scheduling game model. And perform unified coding and initialization to obtain the transportation strategy combination set As the initial population, the genetic algorithm is used to generate the transportation strategy combination set Perform roulette method selection, double-cut point crossover operation, and mutation operation to obtain a new combination set of transportation strategies Set the number of iterations to 50 and get the transportation strategy combination in When , the four through conveyors 11 (D1, D2, D3, D4) obtain the greatest benefit.

[0097] Transportation Strategy Portfolio for:

[0098]

[0099] Finally, we get

[0100] At the same time, take the transportation strategy combination set A combination of transportation strategies As a method of manually randomly allocating logistics boxes to each receiving station according to the task content, for:

[0101]

[0102]

[0103]

[0104] In summary, the control method of the box-type logistics conveying system between low-floor shafts provided by the present invention can improve the transportation efficiency of the elevator and make the load of each through-type car bidirectional conveyor uniform, reduce the failure rate of the through-type car bidirectional conveyor, achieve an improvement in the overall transportation efficiency of the system, and effectively reduce the transportation time of the logistics box.

[0105] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A box-type logistics conveying system between low-rise shafts, characterized in that: include: A vertical shaft, which runs through each floor of the building, is provided with two parallel guide rails in the vertical shaft, a traction motor is provided at the top of the vertical shaft, and each floor of the vertical shaft is provided with a passage opening communicating with each floor; A linear ladder, the linear ladder is slidably connected to the two guide rails and connected to the traction motor through a traction rope, and comprises a car and a through-car bidirectional conveyor, wherein the through-car bidirectional conveyors are four and are arranged up and down in the car in a group of two; An intelligent double-layer transceiver station, comprising a first two-way transport component and a second two-way transport component, wherein the first two-way transport component is located above the second two-way transport component, one end of the first two-way transport component and the second two-way transport component respectively correspond to the passage opening, and an openable and closable automatic fireproof door is provided between the intelligent double-layer transceiver station and the passage opening; A control system is respectively connected with the traction motor, the through-type two-way transport car conveyor, the intelligent double-layer transceiver station, and the automatic fire door.

2. The low-rise vertical shaft box-type logistics transportation system according to claim 1 is characterized in that: It also includes a shuttle machine, which includes a third two-way transport component and a fourth two-way transport component arranged up and down, one end of the third two-way transport component corresponds to one end of the first two-way transport component, and the other end corresponds to the passage opening, one end of the fourth two-way transport component corresponds to one end of the second two-way transport component, and the other end corresponds to the passage opening.

3. The low-rise vertical shaft box-type logistics transportation system according to claim 1 is characterized in that: It also includes 4 logistics boxes, each of which has an RFID electronic tag inside.

4. The low-rise vertical shaft box-type logistics conveying system according to claim 3 is characterized in that: The middle part of the through-type car bidirectional conveyor is used for a card reader for reading the RFID electronic tag of the logistics box, and the card reader is connected to the control system.

5. The low-rise vertical shaft box-type logistics transportation system according to claim 1 is characterized in that: Two anti-falling mechanisms are symmetrically arranged at the top of the car on each floor. The anti-falling mechanism includes a servo and an infrared tube. A gear lever is connected to one end of the servo. The servo can drive the gear lever to rotate toward the through-type car bidirectional conveyor. The anti-falling mechanism is connected to the control system.

6. The low-rise vertical shaft box-type logistics transportation system according to claim 1 is characterized in that: The passage opening is provided with a photoelectric switch at the upper end inside the shaft, and the photoelectric switch is connected to the control system.

7. The low-rise vertical shaft box-type logistics transportation system according to claim 1 is characterized in that: The vertical shaft has a five-layer structure, each layer of the vertical shaft corresponds to each floor of the building, an intelligent double-layer transceiver station is provided on both sides of each layer of the vertical shaft, and a shuttle machine is provided at the passage entrance of the vertical shaft from the 2nd to the 5th floor and the intelligent double-layer transceiver station.

8. A box-type logistics transportation method between low-rise vertical shafts, which is implemented by the box-type logistics transportation system between low-rise vertical shafts according to any one of claims 1 to 7, characterized in that: The steps include: (1) Establish the transportation task set J within a unit time m The intelligent double-layer transceiver stations on both sides of the shaft on the first floor are set as the initiating stations, and the intelligent double-layer transceiver stations on both sides of the shaft from the second floor to the fifth floor are set as the receiving stations. The transportation task of each receiving station in unit time is obtained. The transportation task is the number of logistics boxes at the receiving station. The transportation task set J of all receiving stations in unit time is established. m : J m ={j1,j2,...,j x ,...,j8} (1) Among them, j x represents the transportation task of the xth receiving station in unit time, 1≤x≤8, represents the transportation task of the nth logistics box at the xth receiving station, k represents the weight factor, k = 1, 2; (2) According to the transportation task set J within a unit time m , a scheduling game model of the box-type logistics transportation system is constructed, and its expression is: G=(D i ,S i ,U i ) (3) Where i = 1, 2, 3, 4, D i represents a player in a game consisting of four through-car bidirectional conveyors, S i Indicates D i The set of optional transportation strategies for transporting the logistics box from the originating site to the destination receiving site according to the transportation task set, S i ={s 11 ,s 12 , ..., s xn }, where 1≤i≤4, transportation strategy s xn Indicates a through-type car bidirectional conveyor D i Complete the transportation task of the nth logistics box at the xth receiving station, U i Indicates D i The profit function is expressed as: In the formula, It represents the transport strategy combination determined by four through-car bidirectional conveyors (D1, D2, D3, D4). Indicates a through-type car bidirectional conveyor D i In the transport strategy portfolio Passive transport time, T i D i The time to complete the transport task; (3) The adaptive genetic algorithm is used to solve the scheduling game model of the box-type logistics transportation system and obtain the Nash equilibrium solution of the model. The Nash equilibrium solution is that four through-type car bidirectional conveyors (D1, D2, D3, D4) complete the transportation task set J. m The optimal transportation strategy combination.

9. The control method of the low-floor vertical shaft box-type logistics system according to claim 8 is characterized in that: In step (3), the Nash equilibrium solution of the scheduling game theory model of the box-type logistics transportation system is expressed as: The meaning of this formula refers to the through-type car bidirectional conveyor D i Select a shipping strategy combination The profit obtained when D is greater than or equal to other transport strategy combinations, when the through-type car bidirectional conveyor D i When changing one's own action strategy alone, no one can achieve a better result than the transportation strategy combination. Better returns.

10. The control method of the low-floor vertical shaft box-type logistics system according to claim 8, characterized in that: In step (3), the specific steps of using the adaptive genetic algorithm to solve the scheduling game model of the box-type logistics transportation system include: (3-1) Using the adaptive genetic algorithm, the transport strategy combination set of the four through-car bidirectional conveyors (D1, D2, D3, and D4) in the scheduling game model is Perform unified encoding and initialization to obtain (3-2) Used to calculate the scheduling game model and obtain the fitness value of each transportation strategy combination The calculation function of the fitness value is: In the formula, k represents the number of iterations, U j Indicates that there is only one through-type car bidirectional conveyor D j When the benefits of the transportation task set are completed, δ indicates the stop of the iterative calculation coefficient. (3-3) Using genetic algorithm to calculate the transportation strategy combination set Perform roulette method selection, double-cut point crossover operation, and mutation operation to obtain a new combination set of transportation strategies (3-4) Go to step (3-2) to get the fitness value (3-5) Set the number of iterations n, repeat steps (3-2) to (3-4), and convert the transport strategy combination set For the calculation of the scheduling game model, the Nash equilibrium solution of the scheduling game model is obtained using formula (5), which is the optimal transportation strategy combination, where g represents the number of stop iterations, and the value of g is determined by the specified number of iterations n and formula (7) of step (3-2).

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