Parking space coding algorithm applied to four-way vehicles in stereoscopic garage

Abstract

The invention relates to a garage location coding algorithm applied to four-way vehicles in a stereo garage, which is characterized in that group information is added into each unit in the stereo garage, the coding mode of each group of group information comprises four sections, the first section of information represents the direction of a roadway opening, the second section of information represents a layer, and the third section of information represents an X coordinate; the fourth section of information represents a serial number, the group number of the roadway is unique, the group numbers of the units in the same roadway are the same, and the trays in the units correspond to each other through respective independent Y coordinates. According to the method, the four-way vehicle can be controlled to arrive at the designated unit group to work through the minimum code quantity, the method is simple and efficient, the code quantity can be saved by at least about 60% compared with traditional four-way vehicle coding, and the purposes of optimizing the four-way vehicle coding and remarkably saving the code workload are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of automated warehouse system development, and in particular relates to a storage location coding algorithm applied to a four-way vehicle in a stereoscopic warehouse. Background Art

[0002] Compared with ordinary stereoscopic warehouses, the land utilization rate and space utilization rate of intensive storage can be increased by about 20% to 100%, while the operating efficiency can be increased by 20%, the operating energy consumption can be reduced by 30%, and the unit investment cost can be saved by about 10%. Therefore, the intensive storage system has received more and more attention from the industry, and its market development prospects are broad. As an important handling equipment for intensive storage, the intelligent pallet-type four-way shuttle car, referred to as the four-way car, is an intelligent track-guided automatic reversing and track-changing handling equipment. Under the control of the electronic control system, it accurately locates each input and output station through digital technologies such as encoders, RFID, and photoelectric sensors, and is equipped with an intelligent scheduling system. After receiving the material, it automatically shuttles back and forth. The four-way car does not require human operation, has a fast running speed, and a high degree of intelligence. It is suitable for various logistics storage systems and can promote the rapid realization of automatic flat transportation of unit materials.

[0003] However, there are a lot of calculations involved in the four-way car in the stereoscopic warehouse. It is very difficult to accurately calculate the driving path of the car, the priority placement position for entering the warehouse, the priority exit position for leaving the warehouse, whether it is necessary to block the transfer of the warehouse, and how many free storage positions there are in the lane. This requires a lot of time and effort. In this regard, the present invention adopts a new coding method, which can significantly save development time and greatly reduce the programming difficulty in this direction. Summary of the invention

[0004] To solve the above problems, the present invention adopts the following technical solutions:

[0005] A storage location coding algorithm applied to a four-way vehicle in a stereoscopic warehouse is characterized in that group information is added to each unit in the opposing warehouse, and the coding method of each group of group information has four sections. The first section of information represents the direction of the lane opening, the second section of information represents the layer, the third section of information represents the X coordinate, and the fourth section of information represents the serial number.

[0006] Preferably, the first section of information uses numbers one, two and three to indicate that the vehicle can enter the left side, the right side or both sides of the current lane respectively.

[0007] Preferably, the group number of the lane is unique, and the unit group numbers in the same lane are the same.

[0008] Preferably, each tray in the unit has its own corresponding Y coordinate.

[0009] Compared with the prior art, the advantages of the present invention are: the encoding method of the present invention is to add group information to each unit, and each group of group information has four segments, which can form a corresponding group number, which can make the group number of the lane unique, and the unit group number in the same lane is also the same. Based on this, the four-way vehicle can be controlled to reach the designated unit group to work with the least amount of code. The encoding method of the present invention is not only simple and efficient, but also can save at least 60% of the code compared with the traditional four-way vehicle coding, thereby optimizing the coding of the four-way vehicle and significantly saving the programmer's coding workload. The reduction in the amount of code can speed up the program operation speed, improve the accuracy of the operation, and bring faster feedback response. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A plan view of a vertical library for illustrating an embodiment. DETAILED DESCRIPTION

[0011] 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.

[0012] The present invention is a storage location coding algorithm applied to a four-way vehicle in a stereoscopic warehouse, characterized in that an engineer will add group information to each unit in the stereoscopic warehouse, and the coding method of each group of group information has four sections, which can form a corresponding group number, wherein the first section of the group information indicates the direction of the lane opening, the second section of the group information indicates the layer, the third section of the group information indicates the X coordinate, and the fourth section of the group information indicates the serial number, such as (1 03 12 01), the first end information in this group of information indicates the direction of the lane opening, and the number one, number two and number three are used to respectively indicate that the car in the current lane can enter the left side, the right side, and both the left and right sides can enter, so in this group of information (1 0312 01) respectively represent the meaning:

[0013] The 1 in the first paragraph of information means: 1 is the opening direction of the lane, and the car can enter on the left;

[0014] The 03 in the second paragraph of information stands for: the third layer;

[0015] The 12 in the third paragraph represents: the actual X coordinate;

[0016] The 01 in the fourth section of information represents the serial number.

[0017] Each tray in the unit has its own corresponding Y coordinate.

[0018] The following will be combined with Figure 1 for illustration. It can be explained that Figure 1 the coordinate directions on it are specifically that the X-increasing direction is from top to bottom, and the Y-increasing direction is from right to left. Figure 1 Five points are pointed out in . These five points respectively correspond to five common outbound and inbound problems. It is very easy to answer them by visual observation, but it requires a lot of thought to solve them through calculation because it has significant difficulty. Generally, calculation requires first finding the corresponding main aisle, then seeing from which direction it can enter, and also calculating whether there are columns in the aisle in the middle. The code amount is very large. For this reason, some programmers even write the special bits as constants in the code. Although it can also be implemented, it is not conducive to the reuse of the program. The purpose of the present invention is to optimize this, reduce the code amount, and form a framework of a coding algorithm based on this.

[0019] Embodiment 1

[0020] If you want to know Figure 1 how many empty storage locations there are in the aisle at point A in , first find the group number of this aisle. Assume the group number of the aisle is 1031103, and then find the number of units with the group number equal to 1031103 and the status being idle.

[0021] Embodiment 2

[0022] Assume Figure 1 the Y coordinate of the pallet at point B in is curY, and the group number is 2031203. If you want to know whether there is an obstruction for the pallet at point B in Figure 1 , you can first know from the group number that the first digit is 2, which means the trolley can only enter from the right, and the right is the direction where the Y axis decreases. Then, check whether there are units with the group number equal to 2031203, and when Y < curY and the unit status is occupied, you can know that there is an obstruction. If you want to take out this pallet, you need to move the obstruction for storage.

[0023] Embodiment 3

[0024] If you want to know whether there is an obstruction for the pallet at point C in Figure 1 , refer to the operation in Embodiment 2. At this time, there is no obstruction for the pallet at point C, and no obstruction movement for storage is required.

[0025] Embodiment 4

[0026] Assume Figure 1 the group number of the aisle at point D in is 1031502. If you want to determine which pallet to place goods first in the aisle at point D, you can also know from the group number. The first digit of the group number 1031502 is 1, which means the trolley can only enter from the left. Just find the unit with the group number equal to 1031502, the smallest Y coordinate, and the status being idle, as shown in Figure 1The unit pointed to by D is the pallet with the highest priority for placement of goods.

[0027] Example 5

[0028] Figure 1 If the lane at E in the middle needs to ship goods, the judgment of which pallet to ship out first can still be determined by the group number. Assuming that the group number at E is 1032203, the car can only enter from the left. It only needs to find the unit with the group number equal to 1032203, the largest Y coordinate and the storage location status of occupied.

[0029] The encoding method of the present invention is not only simple and efficient, but also can save at least 60% of the code amount compared with the traditional four-way car encoding, thereby optimizing the four-way car encoding and significantly saving the programmer's coding workload. The reduction in the amount of code can speed up the program operation speed, improve the accuracy of the operation, and bring faster feedback response.

[0030] In the description of the present invention, it is necessary to understand that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one scheme", "some schemes", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the scheme or example are included in at least one scheme or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same scheme or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more schemes or examples in a suitable manner.

Claims

1. A storage location coding algorithm for four-way vehicles in a three-dimensional warehouse, characterized in that: Each unit in the opposition library is added with group information to generate a group number. The encoding method of each group information has four sections. The first section of information indicates the direction of the tunnel opening, the second section of information indicates the layer, the third section of information indicates the X coordinate, and the fourth section of information indicates the serial number.

2. The storage location coding algorithm for four-way vehicles in a three-dimensional warehouse according to claim 1 is characterized in that: The first section of information uses numbers one, two and three to indicate that the vehicle can enter the left side, the right side or both sides of the current lane respectively.

3. The storage location coding algorithm for four-way vehicles in a three-dimensional warehouse according to claim 1 is characterized in that: The group number of the lane is unique, and the unit group numbers in the same lane are the same.

4. The storage location coding algorithm for four-way vehicles in a three-dimensional warehouse according to claim 1 is characterized in that: Each tray in the unit has its own corresponding Y coordinate.

Images