Four-way shuttle vehicle dispatching system based on stereoscopic warehouse

Abstract

The invention relates to the technical field of four-way shuttle vehicle scheduling, and discloses a three-dimensional warehouse-based four-way shuttle vehicle scheduling system, which comprises the following steps of: firstly, acquiring real-time state information of four-way shuttle vehicles, three-dimensional warehouse goods locations, elevators and three-dimensional warehouse lines in a three-dimensional warehouse through a monitoring and encoding module, and carrying out unified position encoding on the real-time state information; the four-direction shuttle vehicle management module constructs a topological model of a three-dimensional library according to the three-dimensional library, then the fuzzy scoring and task allocation module allocates carrying tasks according to fuzzy scores of the four-direction shuttle vehicles and the carrying tasks, then the shortest path for the four-direction shuttle vehicles to execute the tasks is determined through the path planning module, and road sections and time windows are divided according to steering points; in the scheduling process, the conflict detection and traffic control module operates a four-way shuttle vehicle cargo layer interaction protocol, and the four-way shuttle vehicles on the same cargo layer carry out dynamic path conflict detection and traffic control through the interaction protocol, so that the beneficial technical effect of improving the working efficiency of the four-way shuttle vehicle scheduling system is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of four-way shuttle vehicle dispatching, in particular to a four-way shuttle vehicle dispatching system based on a stereoscopic warehouse. Background Art

[0002] With the development of industrial automation and intelligence, automated warehousing and logistics systems play a key role in modern supply chain management, especially in improving handling efficiency, reducing operating costs, and optimizing space utilization.

[0003] Traditional warehousing and handling equipment, such as forklifts and stackers, although they meet basic handling needs to a certain extent, their efficiency and flexibility are often limited when dealing with complex and changeable handling tasks, especially in modern warehousing environments such as multi-layer shelves and high-density storage. These traditional equipment are even more difficult to cope with.

[0004] As a new type of storage and handling equipment, the four-way shuttle has the ability to move freely in four directions, which can easily realize the rapid handling and stacking of goods. However, how to effectively dispatch and manage these four-way shuttles so that they can work together efficiently has become a problem that needs to be solved urgently.

[0005] A search of the prior art revealed that a Chinese patent with application publication number CN113436463A discloses a 5G-based four-way shuttle multi-vehicle scheduling method. This method deploys 5G micro base stations in the four-way shuttle stereoscopic warehouse, and the four-way shuttle and its scheduling control system communicate through 5G. At the same time, a task allocation method based on task distance and a path search algorithm based on application weight are designed to effectively improve the system efficiency.

[0006] The task allocation of the four-way shuttle in the existing technology only considers the task distance of the same cargo layer and ignores the impact of the four-way shuttle speed and layer changing operation on the task allocation. In addition, it is impossible to dynamically adjust the scheduling strategy of the four-way shuttle according to the actual situation, and there is room for improvement. Summary of the invention

[0007] The present invention is based on computer technology and logistics management principles, and realizes real-time monitoring, task allocation, path planning and traffic control of four-way shuttle vehicles through an intelligent system, so as to improve the task scheduling efficiency of four-way shuttle vehicles.

[0008] The present invention provides the following technical solutions:

[0009] The four-way shuttle dispatching system based on the stereoscopic warehouse includes: monitoring and encoding module, fuzzy scoring and task allocation module, path planning module, conflict detection and traffic control module and four-way shuttle management module;

[0010] The monitoring and coding module first obtains the real-time status information of the four-way shuttle, the three-dimensional warehouse cargo position, the elevator and the three-dimensional warehouse line in the three-dimensional warehouse, and then uniformly codes the four-way shuttle, the three-dimensional warehouse cargo position, the elevator and the three-dimensional warehouse line according to the position information in the real-time status information;

[0011] The four-way shuttle management module constructs a topological model of the three-dimensional warehouse according to the position coding of the four-way shuttle, three-dimensional warehouse cargo space, elevator and three-dimensional warehouse line in the three-dimensional warehouse;

[0012] When the cargo in-and-out information is transmitted to the dispatching system, the fuzzy scoring and task allocation module first calculates the fuzzy score of the four-way shuttle for the handling task, and then allocates the in-and-out task to the four-way shuttle with the highest fuzzy score. After that, the path planning module determines the operating route for the four-way shuttle and simultaneously calculates the time window for the four-way shuttle to pass through each section.

[0013] The conflict detection and traffic control module performs dynamic path conflict detection and implements traffic control for path conflicts.

[0014] Preferably, the conflict detection and traffic control module implements path conflict detection and traffic control through a four-way shuttle cargo layer interaction protocol. The cargo layer interaction protocol requires the establishment of a cargo layer communication network so that the four-way shuttle vehicles joining the cargo layer communication network can exchange information with each other. The four-way shuttle vehicles autonomously send path request messages to dynamically determine whether there is a path conflict. At the same time, the four-way shuttle vehicles with path conflicts perform autonomous traffic control through information interaction.

[0015] Application of four-way shuttle dispatching system based on stereoscopic warehouse in four-way shuttle dispatching.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects:

[0017] The present invention proposes a four-way shuttle dispatching system based on a stereoscopic warehouse. The dispatching system first obtains the real-time status information of the four-way shuttle, the stereoscopic warehouse cargo position, the elevator and the route in the stereoscopic warehouse through a monitoring and encoding module and performs unified position encoding on them. At the same time, the four-way shuttle management module constructs a topological model of the stereoscopic warehouse based on this, and then distributes the handling tasks according to the fuzzy scores of the four-way shuttle to the handling tasks through a fuzzy scoring and task allocation module. Then, the shortest path for the four-way shuttle to perform the task is determined through a path planning module, and the road sections and time windows are divided according to the turning points. During the dispatching process, the conflict detection and traffic control module runs the four-way shuttle cargo layer interaction protocol, and the four-way shuttles on the same cargo layer perform dynamic path conflict detection and traffic control through the interaction protocol, thereby achieving the beneficial technical effect of improving the working efficiency of the four-way shuttle dispatching system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the architecture diagram of the four-way shuttle dispatching system based on the stereoscopic warehouse;

[0019] Figure 2 Schematic diagram of the topological model of the four-way shuttle dispatching system based on the stereoscopic warehouse. DETAILED DESCRIPTION

[0020] Embodiment 1:

[0021] Four-way shuttle dispatching system based on stereoscopic warehouse, such as Figure 1 As shown, it includes: monitoring and encoding module, fuzzy scoring and task allocation module, path planning module, conflict detection and traffic control module and four-way shuttle management module;

[0022] Among them, the monitoring and encoding module is used to obtain the real-time status information of the four-way shuttle, three-dimensional warehouse cargo space, elevator and route in the system, and perform position encoding accordingly;

[0023] The fuzzy scoring and task allocation module is used to determine the priority of cargo handling tasks and reasonably allocate cargo handling tasks to the four-way shuttle vehicles through the fuzzy scoring method;

[0024] The path planning module is used to determine the shortest path for the four-way shuttle to perform the handling task using a path planning algorithm, and divide the path into path segments;

[0025] The conflict detection and traffic control module realizes path conflict detection and performs traffic control when path conflicts occur by running the four-way shuttle vehicle-cargo layer interaction protocol;

[0026] The four-way shuttle management module controls the operation of all functional modules of the system by executing the four-way shuttle scheduling method, and visualizes the four-way shuttle scheduling process.

[0027] Embodiment 2:

[0028] A four-way shuttle dispatching method comprises the following steps:

[0029] Step S1, the monitoring and encoding module obtains the real-time status information of the four-way shuttle vehicle, the three-dimensional warehouse cargo space, the elevator and the three-dimensional warehouse line in the three-dimensional warehouse;

[0030] Real-time status information includes: the location and load information of the four-way shuttle, the location and cargo information of the three-dimensional warehouse, the location and working information of the elevator, and the location information of the three-dimensional warehouse line;

[0031] Uniformly encode the positions of four-way shuttles, three-dimensional warehouse cargo spaces, elevators and three-dimensional warehouse lines according to real-time position information;

[0032] The three-dimensional warehouse contains multiple layers of three-dimensional cargo spaces, which can realize multi-layer cargo transportation through elevators. On the one hand, the cargo is transported to the corresponding cargo layer through the elevator, and on the other hand, the four-way shuttle car can realize layer change through the elevator;

[0033] like Figure 2 As shown, according to the plan view of the actual three-dimensional library, a rectangular coordinate system is constructed in the horizontal direction;

[0034] The unified position coding format is: cargo layer-column position-row position;

[0035] For example: 081115 means the 8th cargo layer, 11th column, 15th row;

[0036] Hoist position: 080301, 080801;

[0037] The acquired real-time status information and position coding results are sent to the four-way shuttle management module, and the four-way shuttle management module constructs a topological model of the three-dimensional warehouse based on the information;

[0038] Step S2, when the cargo handling message is written into the four-way shuttle management module, the four-way shuttle management module sends the message to the fuzzy scoring and task allocation module, and the fuzzy scoring and task allocation module allocates the cargo handling task to the four-way shuttle. The specific steps are as follows:

[0039] Different goods have different handling priorities. For example, fresh goods need to be put into or taken out of the warehouse as quickly as possible to prevent spoilage. For such handling tasks, they need to be executed quickly and with priority.

[0040] Step S2-1, setting a cargo handling task pool, and assigning task priorities to the handling tasks in the cargo handling task pool;

[0041] The cargo handling task pool stores all cargo in-and-out handling task information and keeps it updated dynamically;

[0042] According to the cargo attributes and handling priority, the cargo handling tasks in the cargo handling task pool are divided into level III common tasks, level II priority tasks and level I priority tasks. Level III common tasks have the lowest handling priority, which are generally cargoes with no special requirements for handling time. Level II priority tasks have a higher handling priority than level III common tasks, which are generally cargoes with certain requirements for handling time. Level I priority tasks have the highest handling priority, which are generally cargoes that need to be handled immediately.

[0043] The cargo handling task pool sorts the handling tasks in the task pool according to priority and publishes the cargo handling tasks in sequence;

[0044] Step S2-2, after the cargo handling task is issued, the position codes of all idle four-way shuttles are obtained, and then the four-way shuttles with insufficient load capacity are removed according to the cargo weight, and then the fuzzy scores of the four-way shuttles that meet the task requirements are calculated;

[0045] The specific calculation process of fuzzy score is as follows:

[0046] The maximum speed Vm, path length S, and number of vertical level changes Vn of the four-way shuttle;

[0047] Among them, the path length S and the number of layer changes Vn can be calculated through unified position coding. For example, when the handling task is to get goods out of the warehouse, assuming that the position code of a four-way shuttle is 060104, and the position code of the cargo location is 080307, ​​the specific calculation process is as follows:

[0048] Since the four-way shuttle and the cargo are not on the same cargo layer, they need to change layers through the elevator. The four-way shuttle first arrives at the elevator position 060301;

[0049] The length of this path is S1 = |(06)-(06)|+|(03)-(01)|+|(01)-(04)|=5;

[0050] By subtracting the number of cargo layers in the four-way shuttle and cargo position code, the vertical layer change number Vn = |(08)-(06)| = 2 is obtained;

[0051] After the four-way shuttle car reaches the 8th cargo floor where the goods are located via the elevator, it goes from the elevator position 080301 on the 8th cargo floor to the cargo position 080307 where the goods are located;

[0052] The length of this path S2 = |(08)-(08)|+|(03)-(03)|+|(07)-(01)|=6;

[0053] After the four-way shuttle picks up the goods, it delivers the goods to the elevator position 080301;

[0054] The length of this path S3 = |(08)-(08)|+|(03)-(03)|+|(01)-(07)|=6;

[0055] Path length S = S1 + S2 + S3 = 17;

[0056] Fuzzy score Score = A1 × Vm + A2 × S + A3 × Vn;

[0057] Among them, A1~A3 are the coefficients of the maximum speed Vm, path length S and vertical layer change number Vn of the four-way shuttle respectively, which can be flexibly adjusted according to the actual situation. The adjustment principles are as follows:

[0058] The greater the maximum speed Vm of the four-way shuttle, the higher the efficiency of completing the cargo handling task. Therefore, the coefficient A1 is positively correlated with the fuzzy score Score. The present invention sets A1 = 10;

[0059] The path length S and the number of vertical layer changes Vn are both negatively correlated with the cargo handling efficiency, so their corresponding coefficients A2 and A3 are negatively correlated with the fuzzy score Score. The present invention sets A2 = -1 and A3 = -5;

[0060] Assuming that the maximum speed Vm of the four-way shuttle is 2m / s, its fuzzy score result Score is:

[0061] Score=10×2+(-1)×17+(-5)×2=-7;

[0062] The fuzzy score Score can be negative;

[0063] Step S2-3, assigning the cargo handling task to the four-way shuttle Fws-h with the highest fuzzy score;

[0064] The four-way shuttle management module generates a handling task table, stores task information and information about the four-way shuttle currently executing the task;

[0065] At the same time, the four-way shuttle management module executes the following operating procedures:

[0066] (1) Definition (G1, G T ) is of order p ≥ 2 l The bilinear group of G1×G1→G T ; Among them, g1 is the generator of group G1, g2 is the generator of group G T The generator of

[0067] (2) Let g1 be the first auxiliary parameter for generating the authorization certificate of the four-way shuttle Fws-h, and g2 be the second auxiliary parameter for generating the authorization certificate of the four-way shuttle Fws-h;

[0068] (3) Calculate the authority certificate N of the four-way shuttle Fws-h that performs the transport task Fws-h =e(g1, g2) and the authority certificate N Fws-h Stored in the handling task table;

[0069] (4) Construct the permission credential-assisted generation parameter set (P1, P2, P3, P4) of the four-way shuttle Fws-h, where P1∈Z p * , P2∈Z p * , P3=g2^P1, P4=g2^P2;

[0070] (5) Generate a work number m and a one-time auxiliary parameter r for the four-way shuttle Fws-h; where m∈Z p * , r∈Z p * ;

[0071] (6) The parameters {G1, G T , e, g1, g2, l}, work number m, one-time auxiliary parameter r, and permission credential auxiliary generation parameters P1 and P2 are sent to the four-way shuttle Fws-h that performs the handling task;

[0072] Before the four-way shuttle arrives at the cargo location, all idle four-way shuttles that meet the load requirements calculate the fuzzy score according to step S2-2 when passing the turning node. When a new four-way shuttle has a higher fuzzy score than the four-way shuttle that is currently performing the handling task, the task is changed and the cargo handling task is reallocated to the four-way shuttle with the highest fuzzy score. At the same time, step S2-3 is executed again to update the information in the handling task table.

[0073] Step S3, when the four-way shuttle Fws-h obtains the authority certificate N Fws-h Afterwards, the path planning module executes the path planning algorithm to search for the shortest path for the four-way shuttle to complete the handling task, and divides the shortest path according to the turning nodes;

[0074] For example, the initial position of the four-way shuttle is 080104, and its shortest path set to reach the elevator 080301 is (080104, 080103, 080102, 080202, 080302), where the position code 080102 is the turning node. According to the turning nodes, the path set is divided into the following path segments Rsi:

[0075] Rs1(080104,080103);

[0076] Rs2(080102);

[0077] Rs3(080202,080302);

[0078] The four-way shuttle will spend more time turning at the turning node. The turning node is used to divide the driving path of the four-way shuttle into sections. At the same time, the turning node is separated to better control traffic.

[0079] According to the predicted time of the four-way shuttle vehicle traveling on the road segment, the time window Twi is generated:

[0080] Tw1=[t1, t2], Tw2=[t3, t4], Tw3=[t5, t6];

[0081] Among them, t1 and t2 are the moments when the four-way shuttle starts to enter the road section Rs1 and completely exits the road section Rs1, respectively. Similarly, t3 and t4 are the moments when the four-way shuttle starts to enter the road section Rs2 and completely exits the road section Rs2, respectively. t5 and t6 are the moments when the four-way shuttle starts to enter the road section Rs3 and completely exits the road section Rs3, respectively.

[0082] The moments in the time window Twi are not in increasing order, for example, t3 <t2<t4,t5<t4<t6;

[0083] Send the time window Twi and the path segment Rsi to the four-way shuttle Fws-h that performs the transport task;

[0084] Step S4, after the path segment and time window are sent to the four-way shuttle Fws-h, the four-way shuttle management module adds the path information and time information corresponding to the four-way shuttle Fws-h to the handling task table. At the same time, the conflict detection and traffic control module controls the four-way shuttle scheduling according to the four-way shuttle cargo layer interaction protocol. The specific contents are as follows:

[0085] The message types and corresponding meanings of the messages in the four-way shuttle cargo layer interaction protocol are shown in Table 1;

[0086] Table 1 Four-way shuttle interaction message description table

[0087]

[0088] The interactive message format is as follows:

[0089] The format of the registration request message Reg_REQUEST is:

[0090] {Message type: Reg_REQUEST, sender: own four-way shuttle vehicle ID, location information: location code of the four-way shuttle vehicle};

[0091] The format of the registration success message Reg_SUCCESS is:

[0092] {Message type: Reg_SUCCESS, Status: Registration successful, Member information: IDs of all four-way shuttle vehicles in the current cargo layer communication network};

[0093] The format of the path request message Pat_REQUEST is:

[0094] {Message type: Pat_REQUEST, sender: own four-way shuttle ID, receiver: cargo layer network member, path set: own path segment Rsi, time window: own time period Twi, priority: task priority, fuzzy score: task fuzzy score};

[0095] The format of the path confirmation message Pat_CONFIRM is:

[0096] {Message type: Pat_CONFIRM, sender: own four-way shuttle vehicle ID, receiver: the four-way shuttle vehicle ID that sent the path request message, status: path confirmation};

[0097] The format of the path conflict message Pat_CONFLICT is:

[0098] {Message type: Pat_CONFLICT, sender: own four-way shuttle vehicle ID, receiver: four-way shuttle vehicle ID that sends path request message, path set: own path segment Rsi, time window: own time segment Twi, priority: task priority, fuzzy score: task fuzzy score};

[0099] The format of the waiting request message Wat_REQUEST is:

[0100] {Message type: Wat_REQUEST, sender: own four-way shuttle ID, receiver: four-way shuttle ID that sends path conflict message, path set: conflict path, time window: conflict time period, priority: task priority, fuzzy score: task fuzzy score};

[0101] The format of the path warning message Pat_WARNING is:

[0102] {Message type: Pat_WARNING1, sender: own four-way shuttle vehicle ID, conflictor: the four-way shuttle vehicle ID that sent the waiting request message};

[0103] The following example is used to illustrate the specific process of the four-way shuttle cargo layer interaction protocol:

[0104] (1) Establish a cargo layer communication network so that four-way shuttle vehicles on the same cargo layer in the three-dimensional warehouse can exchange information;

[0105] The four-way shuttles between different cargo layers cannot exchange information directly, but all four-way shuttles can exchange information with the four-way shuttle management module;

[0106] Assume that the original four-way shuttle A and four-way shuttle B on the 8th cargo floor are performing the cargo handling task, and the current four-way shuttle C arrives at the 8th cargo floor via the elevator to perform the cargo handling task;

[0107] When the four-way shuttle C passes through the elevator to change floors, it first sends a registration request message Reg_REQUEST to the four-way shuttle management module. The registration request Reg_REQUEST is:

[0108] {Message type: Reg_REQUEST, sender: ID(C), location information: 080301};

[0109] After receiving the registration request message Reg_REQUEST, the four-way shuttle management module adds its ID (C) to the communication network of the 8th cargo layer according to the cargo layer position in the position code of the four-way shuttle C, and returns a registration success message Reg_SUCCESS to the four-way shuttle C. The Reg_SUCCESS is:

[0110] {Message type: Reg_SUCCESS, Status: Registration successful, Member information: ID(A), ID(B), ID(C)};

[0111] At this point, the four-way shuttle C has successfully joined the communication network of the 8th cargo layer and can exchange information with all the four-way shuttles on the cargo layer;

[0112] (2) The four-way shuttle C obtains the four-way shuttle member information in the cargo layer communication network from the registration success message Reg_SUCCESS, and sends a path request message Pat_REQUEST to all four-way shuttle members. The Pat_REQUEST is:

[0113] {Message type: Pat_REQUEST, sender: ID(C), receiver: ID(A), ID(B), path set: RsC, time window: TwC, priority: II, fuzzy score: 5};

[0114] Wherein, RsC={Rs1(080302,080202),Rs2(080102),Rs3(080103,080104)};

[0115] TwC={Tw1[t1, t2], Tw2[t3, t4], Tw3[t5, t6]};

[0116] If there are no other members in the current cargo layer, there is no possibility of path conflict, and the four-way shuttle does not need to send a path request message and can directly perform the transportation task;

[0117] (3) After receiving the path request message Pat_REQUEST sent by the four-way shuttle C, the four-way shuttles A and B determine whether there is a path conflict with their own paths;

[0118] Assume that the path of the four-way shuttle A is RsA = {Rs1 (080709, 080707), Rs2 (080706), Rs3 (080705, 080704)};

[0119] Time window TwA = {Tw1[t2, t3], Tw2[t4, t5], Tw3[t6, t7]};

[0120] The path of the four-way shuttle B is RsB = {Rs1 (080306, 080206), Rs2 (080106), Rs3 (080105, 080104)};

[0121] Time window TwB = {Tw1[t1, t2], Tw2[t3, t4], Tw3[t5, t6]};

[0122] There is no path conflict between the four-way shuttle vehicles A and C. The four-way shuttle vehicle A returns a path confirmation message Pat_CONFIRM, which is:

[0123] {Message type: Pat_CONFIRM, sender: ID(A), receiver: ID(C), status: path confirmation};

[0124] Four-way shuttles B and C both need to pass through area 080104 in time period Tw3, so there is a path conflict;

[0125] The four-way shuttle B returns a path conflict message Pat_CONFLICT, which is:

[0126] {Message type: Pat_CONFLICT, sender: ID(B), receiver: ID(C), path set: RsB, time window: TwB, priority: III, fuzzy score: 15};

[0127] (4) After receiving the return message, the four-way shuttle C determines the message type. If the message type is a path confirmation message, there is no path conflict and the transport task starts according to the established route.

[0128] If there is a path conflict message Pat_CONFLICT, the four-way shuttle obtains the priority in the message and compares it with its own priority. If its own priority is higher, it sends a waiting request message Wat_REQUEST to the four-way shuttle that causes the path conflict;

[0129] The task priority of four-way shuttle C is level II, which is higher than the task priority level III of four-way shuttle B. Therefore, four-way shuttle C sends a waiting request message Wat_REQUEST to four-way shuttle B:

[0130] {Message type: Wat_REQUEST, sender: ID(C), receiver: ID(B), path set: 080104, time window: Tw3, priority: II, fuzzy score: 5};

[0131] If its priority is lower, it will wait, update the time window and send a new path request message Pat_REQUEST to all members of the cargo layer network;

[0132] If the priorities of the two are equal, the fuzzy scores are compared. If the fuzzy score of the vehicle itself is higher, a waiting request message Wat_REQUEST is sent to the four-way shuttle vehicle that has caused the path conflict. Otherwise, the vehicle itself waits, updates the time window, and sends a path request message Pat_REQUEST to all members of the cargo layer network.

[0133] (5) After receiving the waiting request message Wat_REQUEST sent by the four-way shuttle C, the four-way shuttle B extracts the priority and fuzzy score of the four-way shuttle C for confirmation. The task priority of the four-way shuttle C is higher than that of the four-way shuttle B, so the four-way shuttle B waits, updates the time window and sends a new path request message Pat_REQUEST to all members of the cargo layer network;

[0134] Assuming that after comparison, the four-way shuttle B finds that the priority of the four-way shuttle C is equal to its own priority, it compares whether the fuzzy score is higher than its own fuzzy score. If the fuzzy score of the four-way shuttle C is higher than its own fuzzy score, it waits, updates the time window and sends a new path request message Pat_REQUEST to all members of the cargo layer network;

[0135] Otherwise, the four-way shuttle vehicle B sends a path warning message Pat_WARNING to the four-way shuttle vehicle management module. The path warning message Pat_WARNING is:

[0136] {Message type: Pat_WARNING1, sender: ID(B), conflictor: ID(C)};

[0137] Step S5, when the four-way shuttle vehicle Fws-h completes the transport task, the following operation procedures are performed:

[0138] The first auxiliary information f1 and the second auxiliary information f2 of the authorization certificate of the four-way shuttle Fws-h are calculated and generated:

[0139] f1=g1^[1 / (P1+m+P2×r)];

[0140] f2=P3×(g2^m)×(P4^r);

[0141] Calculate the authorization certificate N' of the four-way shuttle Fws-h that performs the transportation taskFws-h =e(f1,f2);

[0142] The authority certificate N' Fws-h Sent to the four-way shuttle management module, the four-way shuttle management module according to N' Fws-h The value of is searched in the transport task table, and when the permission certificate N with the same value is found Fws-h When , the handling task completion information is output;

[0143] Step S6, the four-way shuttle management module pushes the front-end visualization interface according to the real-time data of the system background, and displays the vehicle position, travel path and cargo status in real time.

Claims

1. Four-way shuttle dispatching system based on stereoscopic warehouse, including: Monitoring and encoding module, fuzzy scoring and task allocation module, path planning module, conflict detection and traffic control module and four-way shuttle management module; The monitoring and coding module first obtains the real-time status information of the four-way shuttle, the three-dimensional warehouse cargo position, the elevator and the three-dimensional warehouse line in the three-dimensional warehouse, and then uniformly codes the four-way shuttle, the three-dimensional warehouse cargo position, the elevator and the three-dimensional warehouse line according to the position information in the real-time status information; The four-way shuttle management module constructs a topological model of the three-dimensional warehouse according to the position coding of the four-way shuttle, three-dimensional warehouse cargo space, elevator and three-dimensional warehouse line in the three-dimensional warehouse; When the cargo in-and-out information is transmitted to the dispatching system, the fuzzy scoring and task allocation module first calculates the fuzzy score of the four-way shuttle for the handling task, and then allocates the in-and-out task to the four-way shuttle with the highest fuzzy score. After that, the path planning module determines the operating route for the four-way shuttle and simultaneously calculates the time window for the four-way shuttle to pass through each section. The conflict detection and traffic control module performs dynamic path conflict detection and implements traffic control for path conflicts.

2. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: The method for the fuzzy scoring and task allocation module to publish the transport task is as follows: Set up a cargo handling task pool and prioritize the handling tasks in the cargo handling task pool; The cargo handling task pool stores all cargo in-and-out handling task information and keeps it updated dynamically; According to the cargo attributes and handling priority, the cargo handling tasks in the cargo handling task pool are divided into level III ordinary tasks, level II priority tasks and level I priority tasks; The cargo handling task pool sorts the handling tasks in the task pool according to priority and releases the cargo handling tasks in sequence.

3. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: The method for calculating the task fuzzy score by the fuzzy scoring and task assignment module is as follows: Step 1, obtain the maximum speed Vm of the four-way shuttle, the path length S for carrying tasks, and the number of vertical floor changes Vn through the elevator; Step 2: Calculate the fuzzy score of the four-way shuttle vehicle for the handling task according to the following formula: Score=A1×Vm+A2×S+A3×Vn; Among them, A1 is the coefficient of the maximum speed Vm of the four-way shuttle, A2 is the coefficient of the path length S, and A3 is the coefficient of the vertical layer change number Vn.

4. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: The fuzzy scoring and task allocation module allocates the in-and-out task to the four-way shuttle with the highest fuzzy score. Before the four-way shuttle arrives at the cargo location, all idle four-way shuttles that meet the load requirements recalculate the fuzzy score when passing the turning node. When a new four-way shuttle has a higher fuzzy score than the four-way shuttle that is currently performing the handling task, the task is changed and the cargo handling task is reallocated to the four-way shuttle with the highest fuzzy score.

5. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: The conflict detection and traffic control module implements path conflict detection and traffic control through a four-way shuttle cargo layer interaction protocol. The cargo layer interaction protocol requires the establishment of a cargo layer communication network so that the four-way shuttle vehicles joining the cargo layer communication network can exchange information with each other. The four-way shuttle vehicles autonomously send path request messages to dynamically determine whether there is a path conflict. At the same time, the four-way shuttle vehicles with path conflicts perform autonomous traffic control through information interaction.

6. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: The operating procedure of the four-way shuttle management module to control the four-way shuttle to perform the in-and-out tasks is as follows: (1) Definition (G1, G T ) is of order p ≥ 2 l The bilinear group of G1×G1→G T ; Among them, g1 is the generator of group G1, g2 is the generator of group G T The generator of (2) Let g1 be the first auxiliary parameter for generating the authorization certificate of the four-way shuttle, and g2 be the second auxiliary parameter for generating the authorization certificate of the four-way shuttle; (3) Calculate the authorization certificate N of the four-way shuttle vehicle that performs the transport task Fws-h =e(g1, g2) and the authority certificate N Fws-h Stored in the handling task table; (4) Construct the permission credential of the four-way shuttle to assist in generating the parameter set (P1, P2, P3, P4), where P1∈Z p * , P2∈Z p * , P3=g2^P1, P4=g2^P2; (5) Generate a work number m and a one-time auxiliary parameter r for the four-way shuttle; where m∈Z p * , r∈Z p * ; (6) The parameters {G1, G T , e, g1, g2, l}, work number m, one-time auxiliary parameter r, and permission credential auxiliary generation parameters P1 and P2 are sent to the four-way shuttle vehicle that performs the handling task.

7. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: After completing the transport task, the four-way shuttle performs the following operation procedures: Calculate and generate the first auxiliary information f1 and the second auxiliary information f2 of the authorization credential of the four-way shuttle: f1=g1^[1 / (P1+m+P2×r)]; f2=P3×(g2^m)×(P4^r); Calculate the authorization certificate N' for the four-way shuttle vehicle that performs the transportation task Fws-h =e(f1,f2); The authority certificate N' Fws-h Sent to the four-way shuttle management module, the four-way shuttle management module according to N' Fws-h The value of is searched in the transport task table, and when the permission certificate N with the same value is found Fws-h When the transport task is completed, the information about the transport task completion is output.

8. The four-way shuttle dispatching system based on the stereoscopic warehouse according to claim 1 is characterized in that: The monitoring and encoding module is used to obtain the real-time status information of the four-way shuttle, the three-dimensional warehouse cargo space, the elevator and the three-dimensional warehouse line in the system, and perform position encoding accordingly; The fuzzy scoring and task allocation module is used to determine the priority of cargo handling tasks and reasonably allocate cargo handling tasks to the four-way shuttle vehicles through the fuzzy scoring method; The path planning module is used to determine the shortest path for the four-way shuttle to perform the handling task using a path planning algorithm, and divide the path into path segments; The conflict detection and traffic control module realizes path conflict detection and performs traffic control when path conflicts occur by running the four-way shuttle vehicle-cargo layer interaction protocol; The four-way shuttle management module controls the operation of all functional modules of the system by executing the four-way shuttle scheduling method, and visualizes the four-way shuttle scheduling process.

9. Application of the four-way shuttle dispatching system based on a stereoscopic warehouse as described in claims 1-7 in four-way shuttle dispatching.

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