WCS dispatching control system of four-way shuttle vehicle

Abstract

The invention discloses a WCS scheduling control system for a four-way shuttle vehicle, and relates to the technical field of logistics warehousing, and the system comprises a warehousing information processing unit which is used for carrying out the region division of a warehouse, obtaining the information of commodities stored in the warehouse, and carrying out the scheduling of the commodities based on the information of the commodities and the information of the divided regions of the warehouse. And when the commodity information is changed, the storage positions of the commodities are distributed, and when the commodity information is changed, the storage positions of the commodities are synchronously changed. According to the WCS scheduling control system of the four-way shuttle vehicle, region division is carried out on a warehouse and grade division is carried out on commodities through the arranged storage information processing unit, and commodity allocation is carried out on the commodities, so that subsequent delivery of the commodities is facilitated, the similarity of orders is calculated through the arranged order processing unit, and the accuracy of delivery of the commodities is improved. And order batch operation is carried out based on the calculation result, so that the work efficiency of order processing is improved.

Description

Technical Field

[0001] The invention relates to the technical field of logistics warehousing, and in particular to a WCS dispatching control system for a four-way shuttle vehicle. Background Art

[0002] The four-way shuttle has a fast running speed and high storage density. It can not only improve logistics efficiency and space utilization, but also greatly save manpower and storage area. It has good flexibility and is easy to expand. The Chinese patent with application number 202110721328.2 discloses "a 5G-based four-way shuttle multi-vehicle dispatching method for the dispatch of multiple vehicles on the same floor. A 5G micro base station is deployed in the four-way shuttle stereoscopic warehouse. The four-way shuttle and its dispatching control system communicate through 5G. The location of the four-way shuttle and the shuttle elevator and other operating status information are reported to the dispatching control system through the 5G network; the control instructions of the dispatching control system are sent to the four-way shuttle through the 5G network. Combined with the corresponding dispatching method, it can well solve the technical problems that cannot be solved under the original WIFI technology. The vehicle can plan the driving path within a greater degree of freedom, which can significantly improve the system efficiency and realize safe, stable and efficient four-way shuttle dispatching. "; This prior art only solves the problem that the current scheduling system for shuttle vehicles can only avoid two types of collisions, namely, chasing and heading towards each other, but cannot avoid cross collisions, which will bring huge operational risks. It does not take into account the need to divide the warehouse into areas and classify the goods, and then allocate and store the goods in storage locations, so as to improve the efficiency of goods out of the warehouse. In addition, when scheduling tasks for the four-way shuttle vehicles, it is necessary to determine the priority of each four-way shuttle vehicle and determine the work path based on this to avoid conflicts. Summary of the invention

[0003] The object of the present invention is to provide a WCS dispatching control system for a four-way shuttle vehicle to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a WCS dispatching control system for a four-way shuttle vehicle, comprising a storage information processing unit, the storage information processing unit is used to divide the warehouse into regions, and obtain the information of the goods stored in the warehouse, and allocate the storage locations of the goods based on the information of the goods and the regional information after the warehouse is divided, and when the commodity information changes, the storage locations of the goods are changed synchronously; An order processing unit, the order processing unit is used to receive commodity orders, obtain relevant information of commodities on the orders, calculate similarities between different orders based on relevant information of commodities on different orders, and perform order batch processing operations based on the calculation results; A shuttle dispatching unit, the shuttle dispatching unit is used to obtain the operating status information of the equipment in the warehouse, and determine the priority of each four-way shuttle based on the allocation result of the order, and generate the working path of each four-way shuttle, and further when the four-way shuttle encounters a route conflict during the working process, the conflict handling operation is performed based on the priority of each four-way shuttle; The task execution unit is used to reduce the occupancy of the layer-changing elevator by applying a buffer layer when four-way shuttle vehicles on different layers need to pick up goods through the same layer-changing elevator, thereby improving work efficiency and carrying out goods out of the warehouse through the four-way shuttle.

[0005] Preferably, the warehouse information processing unit includes a warehouse area division module and a warehouse commodity information acquisition module. The warehouse area division module is used to divide the warehouse into regions, specifically, based on the distance from the outbound location, the warehouse space on the same floor is divided into four areas from near to far, and a buffer zone is provided between different floors. The warehouse commodity information acquisition module is used to acquire commodity information stored in the warehouse, specifically including commodity type information, inventory quantity information, price information, weight information and turnover rate information, and calculates the value of each commodity through a commodity value algorithm based on the commodity information. The specific calculation formula is as follows: ; In the formula, Indicates the inventory quantity of the product. It represents the turnover rate of commodities, and based on the value calculation results of various commodities, it divides various commodities into four levels from small to large, from level one to level four, through quartiles.

[0006] Preferably, the warehouse information processing unit also includes a cargo location allocation module and a cargo location information updating module. The cargo location allocation module is used to allocate storage cargo locations for commodities. The specific operation is to allocate the first-level commodities to the cargo locations in the area closest to the shipment location for storage, and allocate the fourth-level commodities to the cargo locations in the area farthest from the shipment location for storage according to the area division information obtained in the warehouse area division module and the commodity grade division information obtained in the warehouse commodity information acquisition module. The location information of the storage cargo locations of each commodity is collected and recorded, and a three-dimensional map of the location of the commodity storage cargo locations is further constructed based on the information. The cargo location information updating module is used to regularly update the inventory quantity information and turnover rate information of the commodities, and to re-divide the grade of the commodities based on the updated information, and then synchronously change the storage cargo locations of the commodities.

[0007] Preferably, the order processing unit includes an order receiving module and an order information extraction module, the order receiving module is used to receive commodity orders, and the order information extraction module is used to obtain relevant information of the commodities on the order, including type information, quantity information and price information of the commodities on the order, and based on the obtained order commodity information, obtain the location information of each commodity storage location on the corresponding order.

[0008] Preferably, the order processing unit further includes an order batching module, which is used to calculate the similarity between different orders through an order similarity algorithm based on the relevant information of each commodity on the order obtained in the order information extraction module. The specific calculation formula is as follows: ; In the formula, Indicates order and Orders The similarity between Indicates order and Orders The number of common product types between Indicates order Contains and order The number of product types not included, Indicates order Does not contain and order The number of product types contained in the calculation is calculated, and the results are arranged in descending order. Orders with calculation results greater than 0.75 are divided into the same batch for processing.

[0009] Preferably, the shuttle scheduling unit includes an equipment information acquisition module and a shuttle priority determination module. The equipment information acquisition module is used to acquire the operating status information of the equipment in the warehouse, specifically including the operating status information of the four-way shuttle and the layer-changing elevator in the warehouse, and acquire the position information of the four-way shuttle and the layer-changing elevator in an idle state. The shuttle priority determination module is used to assign tasks to high-level goods in priority according to the distance between the four-way shuttle and the goods based on the position information of the four-way shuttle in an idle state and the grade information of goods on the same batch of orders, and use the grade of the goods corresponding to the task assigned to the four-way shuttle as the priority level of the four-way shuttle.

[0010] Preferably, the shuttle scheduling unit further includes a shuttle path generation module and a shuttle conflict processing module. The shuttle path generation module is used to generate the optimal working path of each four-way shuttle according to the location information of the corresponding commodity storage location in the task assigned to each four-way shuttle and the location information of the corresponding four-way shuttle, using two methods. The first method is to give priority to generating the optimal working path of the high-priority four-way shuttle, and generate the optimal working path of the low-priority four-way shuttle under the consideration of the generated optimal working path of the high-priority four-way shuttle. The second method is to generate the optimal working path of each four-way shuttle without considering the priority of each four-way shuttle. Specifically, the optimal working path of each four-way shuttle is generated by a path planning algorithm, and the specific calculation formula is as follows: ; In the formula, It represents the total cost from the four-way shuttle position to the target commodity storage location, which is the basis for judging the route selection process. represents the path cost from the four-way shuttle location to the target commodity storage location, It indicates that the estimated cost from the four-way shuttle position to the target commodity storage location is estimated using a heuristic method. The shuttle conflict processing module is used to generate the optimal working path of each four-way shuttle when the second method is used. When a path conflict occurs, the time adjustment algorithm is used to calculate the running delay time of the four-way shuttle with low priority or the same priority and slightly farther from the outbound location. The specific calculation formula is as follows: ; In the formula, Indicates the time when a four-way shuttle vehicle with a lower priority or a higher priority level that is slightly farther from the outbound location reaches the path conflict position. Indicates the time when the high-priority four-way shuttle reaches the path conflict position. It indicates the safety buffer time when conflicts occur in the driving paths of the four-way shuttle vehicles. Based on the calculation results, the running time of the four-way shuttle vehicles with lower priority or the same priority but slightly farther away from the outbound location is postponed.

[0011] Preferably, the task execution unit includes a buffer application module and a commodity outbound module. The buffer application module is used when four-way shuttle vehicles on different floors need to pick up goods through the same layer-changing elevator, and after the layer-changing elevator delivers the target commodity to the corresponding position of the layer where the corresponding four-way shuttle vehicle is located, when the four-way shuttle vehicle has not reached the corresponding position, the layer-changing elevator places the target commodity in the buffer zone to reduce the occupancy of the layer-changing elevator, thereby improving work efficiency. The commodity outbound module is used when the four-way shuttle vehicle picks up the corresponding commodity and goes to the outbound position to perform commodity outbound operations.

[0012] Compared with the prior art, the beneficial effects of the present invention include at least: the present invention proposes a WCS scheduling control system for a four-way shuttle vehicle, which divides the warehouse into areas and grades the goods through a storage information processing unit, and allocates storage locations to the goods, thereby facilitating the subsequent delivery of the goods, and calculates the similarity of the orders through the order processing unit, and performs order batch operations based on the calculation results, thereby improving the work efficiency of order processing, and allocates order tasks to the four-way shuttle vehicles through the shuttle vehicle scheduling unit, and determines the priority of the corresponding four-way shuttle vehicles based on the product information on the order, thereby generating a working path for each four-way shuttle vehicle, avoiding path conflicts, and improving the efficiency of order delivery, and reducing the occupancy of the layer exchange elevator by using the buffer layer through the task execution unit, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall process of an embodiment of the present invention; Figure 2 This is a schematic diagram of the process of a warehouse information processing unit according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the order processing unit flow in an embodiment of the present invention; Figure 4 This is a schematic diagram of the process of the shuttle dispatching unit according to an embodiment of the present invention; Figure 5 The figure is a flowchart of a task execution unit according to an embodiment of the present invention.

[0014] In the figure: 100, storage information processing unit; 101, warehouse area division module; 102, warehouse commodity information acquisition module; 103, cargo space allocation module; 104, cargo space information update module; 200, order processing unit; 201, order receiving module; 202, order information extraction module; 203, order batching module; 300, shuttle scheduling unit; 301, equipment information acquisition module; 302, shuttle priority determination module; 303, shuttle path generation module; 304, shuttle conflict handling module; 400, task execution unit; 401, buffer application module; 402, commodity outbound module. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] See also Figure 1-5 The present invention provides a technical solution: a WCS dispatching control system for a four-way shuttle vehicle, comprising a storage information processing unit 100, the storage information processing unit 100 is used to divide the warehouse into regions, and obtain the information of the goods stored in the warehouse, and allocate the storage locations of the goods based on the information of the goods and the regional information after the warehouse is divided, and when the commodity information changes, the storage locations of the goods are changed synchronously; The order processing unit 200 is used to receive the commodity order, obtain the relevant information of the commodity on the order, calculate the similarity between different orders based on the relevant information of the commodities on different orders, and perform order batch processing based on the calculation result; The shuttle dispatching unit 300 is used to obtain the operating status information of the equipment in the warehouse, and determine the priority of each four-way shuttle based on the allocation result of the order, and generate the working path of each four-way shuttle, and further when the four-way shuttle encounters a route conflict during the working process, the conflict handling operation is performed based on the priority of each four-way shuttle; Task execution unit 400, task execution unit 400 is used to reduce the occupancy of the layer-changing elevator by applying a buffer layer when four-way shuttle vehicles on different layers need to pick up goods through the same layer-changing elevator, thereby improving work efficiency and carrying out goods out of the warehouse through the four-way shuttle.

[0017] The warehouse information processing unit 100 includes a warehouse area division module 101 and a warehouse commodity information acquisition module 102. The warehouse area division module 101 is used to divide the warehouse into regions. Specifically, based on the distance from the outbound location, the warehouse space on the same floor is divided into four regions from near to far, and a buffer zone is set between different floors. The warehouse commodity information acquisition module 102 is used to acquire commodity information stored in the warehouse, specifically including commodity type information, inventory quantity information, price information, weight information and turnover rate information, and calculate the value of each commodity through a commodity value algorithm based on the commodity information. The specific calculation formula is as follows: ; In the formula, Indicates the inventory quantity of the product. Indicates the turnover rate of commodities, and based on the value calculation results of various commodities, divides various commodities into four levels from small to large, from level 1 to level 4, through quartiles; The warehouse information processing unit 100 also includes a cargo location allocation module 103 and a cargo location information update module 104. The cargo location allocation module 103 is used to allocate storage cargo locations for commodities. Specifically, the first-level commodities are allocated to cargo locations in the area closest to the outbound location for storage, and the fourth-level commodities are allocated to cargo locations in the area farthest from the outbound location for storage according to the area division information obtained in the warehouse area division module 101 and the commodity grade division information obtained in the warehouse commodity information acquisition module 102. The location information of the storage cargo locations of each commodity is collected and recorded, and a three-dimensional map of the location of the commodity storage cargo locations is further constructed based on the information. The cargo location information update module 104 is used to regularly update the inventory quantity information and turnover rate information of the commodities, and reclassify the grades of the commodities based on the updated information, and then synchronously change the storage cargo locations of the commodities. The order processing unit 200 includes an order receiving module 201 and an order information extraction module 202. The order receiving module 201 is used to receive a commodity order. The order information extraction module 202 is used to obtain relevant information of the commodities on the order, including the type information, quantity information and price information of the commodities on the order, and obtain the location information of the storage location of each commodity on the corresponding order based on the obtained order commodity information; The order processing unit 200 further includes an order batching module 203, which is used to calculate the similarity between different orders through an order similarity algorithm based on the relevant information of each commodity on the order obtained by the order information extraction module 202. The specific calculation formula is as follows: ; In the formula, Indicates order and Orders The similarity between Indicates order and Orders The number of common product types between Indicates order Contains and order The number of product types not included, Indicates order Does not contain and order The number of product types contained, and the calculated results are arranged in descending order, and the orders with calculated results greater than 0.75 are divided into a unified batch for processing; The shuttle scheduling unit 300 includes an equipment information acquisition module 301 and a shuttle priority determination module 302. The equipment information acquisition module 301 is used to acquire the operating status information of the equipment in the warehouse, specifically including the operating status information of the four-way shuttle and the layer-changing elevator in the warehouse, and acquire the position information of the four-way shuttle and the layer-changing elevator in an idle state. The shuttle priority determination module 302 is used to assign tasks to high-level commodities in priority according to the distance between the four-way shuttle and the commodities based on the position information of the four-way shuttle in an idle state and the grade information of commodities on the same batch of orders, and use the commodity grade corresponding to the task assigned to the four-way shuttle as the priority level of the four-way shuttle; The shuttle dispatching unit 300 also includes a shuttle path generating module 303 and a shuttle conflict handling module 304. The shuttle path generating module 303 is used to generate the optimal working path of each four-way shuttle according to the location information of the commodity storage location corresponding to the task assigned to each four-way shuttle and the location information of the corresponding four-way shuttle by two methods. The first method is to give priority to generating the optimal working path of the four-way shuttle with a high priority, and to generate the optimal working path of the four-way shuttle with a lower priority by considering the optimal working path of the four-way shuttle with a high priority that has been generated. The second method is to generate the optimal working path of each four-way shuttle without considering the priority of each four-way shuttle. Specifically, the optimal working path of each four-way shuttle is generated by a path planning algorithm, and the specific calculation formula is as follows: ; In the formula, It represents the total cost from the four-way shuttle position to the target commodity storage location, which is the basis for judging the route selection process. represents the path cost from the four-way shuttle location to the target commodity storage location, It indicates that the estimated cost from the four-way shuttle position to the target commodity storage location is estimated using a heuristic method. The shuttle conflict processing module 304 is used to generate the optimal working path of each four-way shuttle when the second method is used. When a path conflict occurs, the time adjustment algorithm is used to calculate the operation delay time of the four-way shuttle with a low priority or the same priority and slightly farther from the outbound location. The specific calculation formula is as follows: ; In the formula, Indicates the time when a four-way shuttle vehicle with a lower priority or a higher priority level that is slightly farther from the outbound location reaches the path conflict position. Indicates the time when the high-priority four-way shuttle reaches the path conflict position. Indicates the safety buffer time when conflicts occur in the driving paths of the four-way shuttles, and based on the calculation results, the running time of the four-way shuttles with lower priority or the same priority but slightly farther from the outbound location is postponed; The task execution unit 400 includes a buffer application module 401 and a commodity outbound module 402. The buffer application module 401 is used when four-way shuttle vehicles on different floors need to pick up goods through the same layer-changing elevator, and after the layer-changing elevator delivers the target commodity to the corresponding position of the layer where the corresponding four-way shuttle vehicle is located, when the four-way shuttle vehicle has not reached the corresponding position, the layer-changing elevator places the target commodity in the buffer zone to reduce the occupancy of the layer-changing elevator, thereby improving work efficiency. The commodity outbound module 402 is used when the four-way shuttle vehicle picks up the corresponding commodity and goes to the outbound position to perform commodity outbound operations.

[0018] Working principle: The warehouse is divided into areas through the warehouse area division module 101, and buffer zones are set between different layers. The warehouse commodity information acquisition module 102 acquires the commodity information stored in the warehouse, and divides various commodities into four levels from small to large, from level one to level four. The storage locations of the commodities are allocated through the cargo location allocation module 103. The levels of the commodities are re-divided based on the updated information through the cargo location information update module 104, and the storage locations of the commodities are changed synchronously. The commodity orders are received through the order receiving module 201, and the relevant information of the commodities on the orders is acquired through the order information extraction module 202. The similarity between different orders is calculated through the order batching module 203, and the order batching operation is performed based on the calculation results. The acquisition module 301 acquires the operating status information of the equipment in the warehouse, and acquires the position information of the four-way shuttle and the layer-changing elevator in the idle state. The shuttle priority determination module 302 prioritizes the task allocation to high-level commodities according to the distance between the four-way shuttle and the commodities, and uses the commodity level corresponding to the task assigned to the four-way shuttle as the priority level of the four-way shuttle. The shuttle path generation module 303 adopts two methods to generate the optimal working path of each four-way shuttle. When the second method is used to generate the optimal working path of each four-way shuttle, the shuttle conflict processing module 304 processes the path conflict. The buffer application module 401 adopts the method of applying the buffer layer to reduce the occupancy of the layer-changing elevator, and the commodity outbound module 402 carries out the commodity outbound.

[0019] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A WCS dispatching control system for a four-way shuttle vehicle, characterized in that: The storage information processing unit (100) is used to divide the warehouse into regions, obtain information about commodities stored in the warehouse, allocate storage locations for the commodities based on the information about the commodities and the region information after the warehouse division, and synchronously change the storage locations for the commodities when the commodity information changes; An order processing unit (200), the order processing unit (200) is used to receive a commodity order, obtain relevant information of the commodities on the order, and calculate similarities between different orders based on the relevant information of the commodities on different orders, and perform order batch processing operations based on the calculation results; A shuttle dispatching unit (300), the shuttle dispatching unit (300) being used to obtain the operating status information of the equipment in the warehouse, and based on the allocation result of the order, determine the priority of each four-way shuttle, and generate the working path of each four-way shuttle, and further when the four-way shuttle encounters a route conflict during the working process, perform a conflict handling operation based on the priority of each four-way shuttle; A task execution unit (400) is used to reduce the occupancy of the layer-changing elevator by applying a buffer layer when four-way shuttle vehicles on different layers need to pick up goods through the same layer-changing elevator, thereby improving work efficiency and carrying out goods out of the warehouse through the four-way shuttle.

2. The WCS dispatching control system for a four-way shuttle vehicle according to claim 1 is characterized in that: The warehouse information processing unit (100) comprises a warehouse area division module (101) and a warehouse commodity information acquisition module (102). The warehouse area division module (101) is used to divide the warehouse into areas, specifically, based on the distance from the outbound location, the warehouse space on the same floor is divided into four areas from near to far, and a buffer zone is provided between different floors. The warehouse commodity information acquisition module (102) is used to acquire commodity information stored in the warehouse, specifically including commodity type information, inventory quantity information, price information, weight information and turnover rate information, and calculate the value of each commodity through a commodity value algorithm based on the commodity information, and divide the various commodities into four levels from small to large through quartiles, from first-level commodities to fourth-level commodities.

3. The WCS dispatching control system of a four-way shuttle vehicle according to claim 2 is characterized in that: The storage information processing unit (100) further comprises a cargo location allocation module (103) and a cargo location information updating module (104). The cargo location allocation module (103) is used to allocate storage cargo locations for commodities. Specifically, the first-level commodities are allocated to cargo locations in the area closest to the outbound location for storage, and the fourth-level commodities are allocated to cargo locations in the area farthest from the outbound location for storage, based on the area division information obtained in the warehouse area division module (101) and the commodity grade division information obtained in the warehouse commodity information acquisition module (102). The location information of the storage cargo locations of each commodity is collected and recorded, and a three-dimensional map of the location of the commodity storage cargo locations is further constructed based on the information. The cargo location information updating module (104) is used to regularly update the inventory quantity information and turnover rate information of the commodities, and reclassify the grades of the commodities based on the updated information, thereby synchronously changing the storage cargo locations of the commodities.

4. The WCS dispatching control system for a four-way shuttle vehicle according to claim 1 is characterized in that: The order processing unit (200) comprises an order receiving module (201) and an order information extraction module (202), wherein the order receiving module (201) is used to receive a commodity order, and the order information extraction module (202) is used to obtain relevant information about the commodities on the order, including type information, quantity information and price information of the commodities on the order, and based on the obtained order commodity information, obtain the location information of each commodity storage location on the corresponding order.

5. The WCS dispatching control system for a four-way shuttle vehicle according to claim 4 is characterized in that: The order processing unit (200) further comprises an order batching module (203), wherein the order batching module (203) is used to calculate the similarity between different orders based on the relevant information of each commodity on the order obtained by the order information extraction module (202) by using an order similarity algorithm, and to arrange the calculated results in descending order, and to group the orders with the calculated results greater than 0.75 into a unified batch for processing.

6. The WCS dispatching control system for a four-way shuttle vehicle according to claim 1 is characterized in that: The shuttle dispatching unit (300) comprises an equipment information acquisition module (301) and a shuttle priority determination module (302). The equipment information acquisition module (301) is used to acquire the operating status information of the equipment in the warehouse, specifically including the operating status information of the four-way shuttle and the layer-changing elevator in the warehouse, and acquire the position information of the four-way shuttle and the layer-changing elevator in an idle state. The shuttle priority determination module (302) is used to allocate tasks to high-level commodities in priority according to the distance between the four-way shuttle and the commodities based on the position information of the four-way shuttle in an idle state and the grade information of commodities in the same batch of orders, and use the commodity grade corresponding to the task allocated to the four-way shuttle as the priority level of the four-way shuttle.

7. The WCS dispatching control system for a four-way shuttle vehicle according to claim 1 is characterized in that: The shuttle dispatching unit (300) further comprises a shuttle path generating module (303) and a shuttle conflict handling module (304). The shuttle path generating module (303) is used to generate the optimal working path of each four-way shuttle according to the location information of the commodity storage location corresponding to the task assigned to each four-way shuttle and the location information of the corresponding four-way shuttle by using two methods. The first method is to preferentially generate the optimal working path of the four-way shuttle with a high priority, and to generate the optimal working path of the four-way shuttle with a lower priority by taking into account the optimal working path of the four-way shuttle with a high priority that has been generated. The second method is to generate the optimal working path of each four-way shuttle without considering the priority of each four-way shuttle. Specifically, the optimal working path of each four-way shuttle is generated by a path planning algorithm. The shuttle conflict processing module (304) is used to generate the optimal working path of each four-way shuttle by the second method. When a path conflict occurs, the time adjustment algorithm is used to calculate the running delay time of the four-way shuttle with low priority or the same priority and slightly far from the outbound position, and based on the calculation result, the running time of the four-way shuttle with low priority or the same priority and slightly far from the outbound position is delayed.

8. The WCS dispatching control system for a four-way shuttle vehicle according to claim 1 is characterized in that: The task execution unit (400) comprises a buffer application module (401) and a commodity outbound module (402). The buffer application module (401) is used when four-way shuttle vehicles on different floors need to pick up goods through the same layer-changing elevator, and when the layer-changing elevator delivers the target commodity to the corresponding position of the layer where the corresponding four-way shuttle vehicle is located, when the four-way shuttle vehicle has not reached the corresponding position, the layer-changing elevator places the target commodity in the buffer zone to reduce the occupancy of the layer-changing elevator, thereby improving work efficiency. The commodity outbound module (402) is used when the four-way shuttle vehicle picks up the corresponding commodity and goes to the outbound position to perform the commodity outbound operation.

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