Operation control method and device applied to cargo access system

Abstract

The invention discloses an operation control method and device applied to a cargo access system, a computer readable medium, electronic equipment and a computer program product. According to one specific embodiment, the method comprises the steps that the operation end point of a cargo carrying table is responded to be a target position, the cargo carrying table is controlled to operate to an adjacent position above the target position, and the cargo carrying table in the target position has the possibility of colliding with a transfer trolley in at least part of the operation state; the cargo carrying platform at the adjacent position has no collision possibility with all the transfer trolleys in the running state; in response to the situation that the operation authority of the unit area below the target position is not obtained by a first transfer trolley in the first operation state in the transfer trolleys, it is determined that no collision possibility exists between the transfer trolley and the cargo carrying table in the target position; and controlling the cargo carrying table to run from the adjacent position to the target position. On the basis of ensuring the operation safety of the cargo access system, the scheduling flexibility and the access efficiency can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technology, specifically to the field of intelligent warehousing technology, and in particular to an operation control method, device, computer-readable medium, electronic device and computer program product applied to a cargo storage and retrieval system. Background Art

[0002] The cargo storage and retrieval system is a new type of intelligent warehousing equipment that can efficiently transport goods in and out of the warehouse, significantly improve storage and retrieval efficiency, and shorten the entry cycle. The vertical rails and cargo platforms in the cargo storage and retrieval system cooperate with each other to store and retrieve goods on the shelves, and the transfer vehicles dock with the cache positions of the shelves to move goods in and out. During the operation of the cargo storage and retrieval system, the vertical rails and cargo platforms (especially the cargo platforms) will frequently move on the shelves, and there is a risk of collision with the transfer vehicles running on the ground. In the existing scheduling plan, during the operation of the vertical rails and cargo platforms, all transfer vehicles are prohibited from operating in the grid below the vertical rails and cargo platforms. Summary of the invention

[0003] The embodiments of the present application provide an operation control method, system, device, computer-readable medium, electronic device and computer program product applied to a cargo storage and retrieval system.

[0004] In the first aspect, an embodiment of the present application provides an operation control method applied to a cargo storage and retrieval system, the cargo storage and retrieval system comprising a transfer vehicle, a shelf, and a cargo platform located outside the shelf and capable of running along the shelf, the transfer vehicle running based on a unit area on the running plane to deliver cargo to the cargo platform, the method comprising: in response to the running end point of the cargo platform being a target position, controlling the cargo platform to run to an adjacent position above the target position, wherein there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in at least part of the running state, and there is no possibility of collision between the cargo platform at the adjacent position and the transfer vehicle in all running states; in response to the running authority of the unit area below the target position not being acquired by the first transfer vehicle in the first running state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position; controlling the cargo platform to run from the adjacent position to the target position.

[0005] In some examples, the target position corresponds to the bottom storage position on the shelf, the first operating state is a high-load state characterizing that there is cargo on the lifting mechanism of the first transfer vehicle and the lifting mechanism is lifted, and the above-mentioned operation authority of the unit area below the target position has not been acquired by the first transfer vehicle in the first operating state among the transfer vehicles, and it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position, including: in response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the high-load state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0006] In some examples, the target position corresponds to the cache position at the bottom of the shelf, the first operating state is a loading state characterizing that there are goods on the lifting mechanism of the first transfer vehicle, and the above-mentioned response to the operating authority of the unit area below the target position not being acquired by the first transfer vehicle in the first operating state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position, including: in response to the operating authority of the unit area below the target position not being acquired by the first transfer vehicle in the loading state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0007] In some examples, the method further includes: in response to the first transfer vehicle obtaining the operating authority of the unit area below the target position, determining the possibility of a collision between the transfer vehicle and the cargo platform at the target position; and controlling the cargo platform to pause at an adjacent position until the first transfer vehicle releases the operating authority of the unit area below the target position.

[0008] In some examples, the cargo storage and retrieval system also includes a vertical rail that is arranged on the outside of one of the two opposite shelves and can run in the horizontal direction, and the cargo platform can run along the vertical rail in the vertical direction, and the above method also includes: for multiple extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the operating authority of the multiple extended unit areas has not been acquired by the second transfer vehicle in the second operating state in the transfer vehicle, determining that there is no possibility of collision between the transfer vehicle and the vertical rail, wherein the multiple extended unit areas are located in front of the target unit area in the horizontal running direction, and the target unit area is located below the current position of the vertical rail; setting the status of the multiple extended unit areas to a prohibited operating state for the second transfer vehicle, and controlling the horizontal operation of the vertical rail, wherein the status of the target unit area is a prohibited operating state for the second transfer vehicle.

[0009] In some examples, the second operating state is a high-load state characterizing that there is cargo on the lifting mechanism of the second transfer vehicle and the lifting mechanism is lifted; and the above-mentioned response to the operating authority of multiple expansion unit areas not being acquired by the second transfer vehicle in the second operating state in the transfer vehicle, determining that there is no possibility of collision between the transfer vehicle and the vertical rail includes: in response to the operating authority of multiple expansion unit areas not being acquired by the second transfer vehicle in the high-load state in the transfer vehicle, determining that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0010] In some examples, the target unit area includes a lower unit area directly below the current position, and a previous unit area and a next unit area of ​​the upper and lower unit areas in the horizontal running direction, multiple extended unit areas are located in front of the previous unit area, and the above method also includes: determining the number of extended unit areas according to the current position of the vertical rail to determine multiple extended unit areas.

[0011] In some examples, the method further includes: in response to the operating authority of the expansion unit area being obtained by the second transfer vehicle in the second operating state among the transfer vehicles, determining that there is a possibility of collision between the transfer vehicle and the vertical rail; controlling the vertical rail to pause at the current position until the second transfer vehicle releases the operating authority of the expansion unit area.

[0012] In the second aspect, an embodiment of the present application provides an operation control device applied to a cargo storage and retrieval system, the cargo storage and retrieval system comprising a transfer vehicle, a shelf, and a cargo platform located outside the shelf and capable of running along the shelf, the transfer vehicle running based on a unit area on the running plane to deliver cargo to the cargo platform, the device comprising: a first operation unit, configured to control the cargo platform to run to an adjacent position above the target position in response to the running end point of the cargo platform being a target position, wherein there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in at least part of the running state, and there is no possibility of collision between the cargo platform at the adjacent position and the transfer vehicle in all running states; a possibility determination unit, configured to determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position in response to the fact that the running authority of the unit area below the target position has not been acquired by the first transfer vehicle in the first running state among the transfer vehicles; a second operation unit, configured to control the cargo platform to run from the adjacent position to the target position.

[0013] In some examples, the target position corresponds to the bottom storage position on the shelf, the first operating state is a high-load state characterizing that there is cargo on the lifting mechanism of the first transfer vehicle and the lifting mechanism is lifted, and the above-mentioned possibility determination unit is further configured to: in response to the operating authority of the unit area below the target position not being acquired by the first transfer vehicle in the high-load state, determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0014] In some examples, the target position corresponds to the cache position at the bottom of the shelf, the first operating state is a loading state characterizing that there are goods on the lifting mechanism of the first transfer vehicle, and the above-mentioned possibility determination unit is further configured to: in response to the operating authority of the unit area below the target position not being acquired by the first transfer vehicle in the loading state, determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0015] In some examples, the possibility determination unit is further configured to: in response to the first transfer vehicle obtaining the operating authority of the unit area below the target position, determine the possibility of a collision between the transfer vehicle and the cargo platform at the target position; the second operation unit is further configured to control the cargo platform to pause at an adjacent position until the first transfer vehicle releases the operating authority of the unit area below the target position.

[0016] In some examples, the cargo storage and retrieval system also includes a vertical rail that is arranged on the outside of one of the two opposite shelves and can run in the horizontal direction, the cargo platform can run along the vertical rail in the vertical direction, and the possibility determination unit is also configured to, for multiple extended unit areas corresponding to the current position of the vertical rail, determine that there is no possibility of collision between the transfer vehicle and the vertical rail in response to the fact that the operating authority of the multiple extended unit areas has not been acquired by the second transfer vehicle in the second operating state in the transfer vehicle, wherein the multiple extended unit areas are located in front of the target unit area in the horizontal operating direction, and the target unit area is located below the current position of the vertical rail; the above-mentioned device also includes: a third operating unit, configured to set the status of the multiple extended unit areas to a prohibited operating state for the second transfer vehicle, and control the horizontal operation of the vertical rail, wherein the status of the target unit area is a prohibited operating state for the second transfer vehicle.

[0017] In some examples, the second operating state is a high-load state characterized by the presence of cargo on the lifting mechanism of the second transfer vehicle and the lifting mechanism being lifted; and the above-mentioned possibility determination unit is further configured to: in response to the operating authority of multiple expansion unit areas not being obtained by the second transfer vehicle in the high-load state in the transfer vehicle, determine that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0018] In some examples, the target unit area includes a lower unit area directly below the current position, and a previous unit area and a next unit area of ​​the upper and lower unit areas in the horizontal running direction, multiple extended unit areas are located in front of the previous unit area, and the above-mentioned device also includes: an area determination unit, which is configured to determine the number of extended unit areas according to the current position of the vertical rail to determine multiple extended unit areas.

[0019] In some examples, the possibility determination unit is further configured to: in response to the operating authority of the extended unit area being obtained by the second transfer vehicle in the second operating state among the transfer vehicles, determine that there is a possibility of collision between the transfer vehicle and the vertical rail; the third operating unit is further configured to: control the vertical rail to pause at the current position until the second transfer vehicle releases the operating authority of the extended unit area.

[0020] In a third aspect, an embodiment of the present application provides a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation manner of the first aspect is implemented.

[0021] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product, including: a computer program, which implements the method described in any implementation manner of the first aspect when executed by a processor.

[0023] The operation control method and device for a cargo storage and retrieval system provided in an embodiment of the present application control the cargo platform to operate to an adjacent position above the target position in response to the operation end point of the cargo platform being the target position, wherein there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in at least some operation states, and there is no possibility of collision between the cargo platform at the adjacent position and the transfer vehicle in all operation states; in response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the first operation state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position; the cargo platform is controlled to operate from the adjacent position to the target position, thereby dividing the operation stage of the cargo platform into two stages, wherein in the first stage, the cargo platform is controlled to operate to an adjacent position above the operation end point, and in the second stage, whether it immediately operates to the operation end point is controlled based on the possibility of collision between the cargo platform and the transfer vehicle, which helps to improve scheduling flexibility and storage and retrieval efficiency while ensuring the operation safety of the cargo storage and retrieval system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 is an exemplary system architecture diagram in which an embodiment of the present application may be applied;

[0026] Figure 2 is a flow chart of an embodiment of an operation control method applied to a cargo access system according to the present application;

[0027] Figures 3A-3C is a schematic structural diagram of a cargo storage and retrieval system according to this embodiment;

[0028] Figure 4 is a schematic diagram of the operation process of the vertical rail and the cargo platform on the shelf according to this embodiment;

[0029] Figure 5 is another schematic diagram of the transfer vehicle according to this embodiment delivering goods to the cargo platform based on the buffer position;

[0030] Figure 6 is a schematic diagram of the relative position relationship between various operating objects in the cargo storage and retrieval system according to this embodiment;

[0031] Figure 7 is a schematic diagram of the state when the cargo platform according to the present embodiment is at the target position;

[0032] Figure 8 is a schematic diagram of determining multiple unit areas according to this embodiment;

[0033] Fig. 9 is a schematic diagram of an application scenario of the operation control method applied to a cargo storage and retrieval system according to the present embodiment;

[0034] Fig.10 is a flow chart of another embodiment of an operation control method applied to a cargo storage and retrieval system according to the present application;

[0035] Fig.11 is a structural diagram of an embodiment of an operation control device applied to a cargo storage and retrieval system according to the present application;

[0036] Fig.12 It is a structural diagram of a computer system suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0037] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0038] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security and national security.

[0040] Figure 1 An exemplary architecture 100 to which the operation control method and apparatus of the present application for a cargo access system can be applied is shown.

[0041] like Figure 1As shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104 and a server 105. The communication connection between the terminal devices 101, 102, 103 constitutes a topological network, and the network 104 is used to provide a medium for the communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0042] The terminal devices 101, 102, 103 can interact with the server 105 through the network 104 to receive or send data, etc. The terminal devices 101, 102, 103 can be hardware devices or software that support network connection for data interaction and data processing. When the terminal devices 101, 102, 103 are hardware, they can be various electronic devices that support network connection, information acquisition, interaction, display, processing and other functions, including but not limited to vertical rails, cargo platforms, transfer vehicles, etc. in cargo storage systems. When the terminal devices 101, 102, 103 are software, they can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0043] The server 105 may be a server that provides various services, for example, a background processing server that sends operation instructions to the terminal devices 101, 102, 103 to control their operation. As an example, the server 105 may be a cloud server.

[0044] It should be noted that the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules (for example, software or software modules used to provide distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0045] It should also be noted that the operation control method applied to the cargo storage and retrieval system provided in the embodiments of the present application is generally executed by a server, but the possibility of being executed by a terminal device, or being executed by the server and the terminal device in cooperation with each other, is not excluded. Accordingly, the various parts (such as various units) included in the operation control device applied to the cargo storage and retrieval system can be all set in the server, or all set in the terminal device, or can be set in the server and the terminal device respectively.

[0046] It should be understood that Figure 1The number of terminal devices, networks and servers in the above description is only illustrative. Any number of terminal devices, networks and servers may be provided as required. When the electronic device on which the operation control method applied to the cargo access system is executed does not need to perform data transmission with other electronic devices, the system architecture may only include the electronic device (e.g., server or terminal device) on which the operation control method applied to the cargo access system is executed.

[0047] Continue to refer Figure 2 , shows a process 200 of an embodiment of an operation control method applied to a cargo access system.

[0048] In order to clearly explain the operation control method applied to the cargo storage and retrieval system, the cargo storage and retrieval system is first described as follows:

[0049] Continue to refer Figures 3A-3C , shows a schematic diagram of the structure of the cargo storage and retrieval system. Figure 3A The three-dimensional structural diagram of the cargo storage and retrieval system is shown. Figure 3B shows a side view of a cargo access system, Figure 3C A top view of a cargo storage and retrieval system is shown.

[0050] The cargo storage and retrieval system 300 includes a transfer vehicle 301, a shelf 302, and a cargo platform 304 located outside the shelf and running on the shelf. The transfer vehicle runs based on a unit area on the running plane to transfer cargo to the cargo platform. For example, the cargo platform can run horizontally and vertically along the outside of the shelf through a hanging basket device; for another example, the shelf is provided with a horizontal track and a vertical track, and the cargo platform can run horizontally along the outside of the shelf through the horizontal track and run vertically along the outside of the shelf through the vertical track.

[0051] In some implementations, the cargo access system also includes a vertical rail located outside the shelf that can run in the horizontal direction, and the cargo platform can run along the vertical rail in the vertical direction. The unit area is an area with a certain area obtained by dividing the operation plane, such as a grid. The operation objects such as the transfer vehicle, the vertical rail, and the cargo platform can set the corresponding authority for the unit area, and the operation object that has set the authority of the unit area is exclusive to other operation objects that want to set the authority for the unit area and have the possibility of collision with the operation object. Specifically, the authority setting is, for example, the vertical rail and the cargo platform set a prohibited operation state for the unit area, and the transfer vehicle obtains the operation authority of the unit area. After the vertical rail and the cargo platform set the prohibited operation state for the unit area, the transfer vehicle that has the possibility of collision with the vertical rail and the cargo platform cannot run on the unit area in the prohibited operation state; after the transfer vehicle obtains the operation authority of the unit area, the vertical rail that has the possibility of collision with the transfer vehicle cannot run above the unit area, and the cargo platform that has the possibility of collision with the transfer vehicle does not run to the target position close to the operation plane of the transfer vehicle.

[0052] Continue to refer Figure 4 , shows a schematic diagram of the operation process of the vertical rail and the cargo platform on the shelf. Specifically, Figure 4 It shows the operation process of the cargo platform running from storage location A to storage location B or cache location C to perform a task.

[0053] Combined with the horizontal operation of the vertical rails and the vertical operation of the cargo platform, the cargo platform can carry out operations of moving goods in (storing) and moving goods out (taking out) at any storage location on the shelf, and deliver goods to the transfer vehicle on the operating plane.

[0054] Continue to refer Figure 3B , the shelves in the cargo storage and retrieval system are generally arranged opposite to each other in pairs, and lanes are set between the shelves. When the transfer vehicle needs to hand over goods with the loading platform based on the cache position, it generally needs to run perpendicular to the length direction of the lane to run under the cache position. The transfer vehicle is provided with a lifting mechanism, and goods can be placed on the lifting mechanism. In the process of storing goods on the shelf, when the transfer vehicle carrying goods runs to the bottom of the shelf according to its corresponding running route, the lifting mechanism is raised, and it runs perpendicular to the length direction of the lane to place the goods in the cache position below the bottom storage position of the shelf. The loading platform can place the goods on the cache position in the target storage position on the shelf. In the process of taking out goods from the shelf, the vertical rails and the loading platform cooperate with each other to place the goods on the shelf in the cache position on the shelf. After the transfer vehicle runs perpendicular to the length direction of the lane to the bottom of the cache position, the lifting mechanism is raised, thereby lifting the goods to place the goods on the lifting mechanism, and then backs up to the lane, lowers the lifting mechanism, and transports the goods to the designated destination.

[0055] For shelves arranged opposite to each other, vertical rails and cargo platforms can be arranged on one of the shelves, and a buffering position can be arranged below the bottom storage position of the other shelf. Therefore, during the horizontal operation of the vertical rails, the transfer vehicle only transfers goods to the buffering position in the opposite shelf, so that there is no possibility of collision between the vertical rails and the transfer vehicle.

[0056] Continue to refer Figure 5 , shows a schematic diagram of a transfer vehicle handing over goods based on a cache position and a cargo platform. For shelves arranged opposite to each other, cache positions can be set below the lowest storage positions of both shelves, and vertical rails and a cargo platform can be set only on one of the shelves. It can be understood that increasing the number of cache positions helps to improve the access efficiency of the cargo storage and retrieval system.

[0057] The operation of the transfer vehicle generally includes three operating states, including the low-position state without cargo, the low-position state with cargo, and the high-position state with cargo. The low-position state without cargo indicates that there is no cargo placed on the lifting mechanism of the transfer vehicle, and the lifting mechanism is not raised; the low-position state with cargo indicates that there is cargo placed on the lifting mechanism of the transfer vehicle, and the lifting mechanism is not raised; the high-position state with cargo indicates that there is cargo placed on the lifting mechanism of the transfer vehicle, and the lifting mechanism is raised. Generally, the transfer vehicle is in the high-position state when it articulates the cargo with the shelf through the cache position.

[0058] Continue to refer Figure 6 , which shows a schematic diagram of the relative position relationship between various operating objects in the cargo storage and retrieval system.

[0059] For the vertical rails, the height of the lower end of the vertical rails is less than the height of the transfer vehicle in the high-load state, that is, the vertical rails may collide with the transfer vehicle in the high-load state during operation. For the cargo platform, when the cargo platform is at the bottom storage position on the shelf, its height is less than the height of the transfer vehicle in the high-load state, that is, the cargo platform at the first storage position may collide with the transfer vehicle in the high-load state; when the cargo platform is at the cache position below the bottom storage position on the shelf, its height is less than the height of the transfer vehicle in the high-load state or the low-load state, that is, the cargo platform at the cache position may collide with the transfer vehicle in the high-load state or the low-load state. It should be noted that Figure 6 The relative position relationship shown is only one implementation of the cargo storage and retrieval system in this application, and is intended to facilitate the description of the subsequent processing steps in this application. Based on the implementation requirements of the cargo storage and retrieval system, the relative position relationship between the various operating objects in the cargo storage and retrieval system can be flexibly changed, such as lowering or raising the height of the lower end of the vertical rail.

[0060] Process 200 includes the following steps:

[0061] Step 201, in response to the running end point of the cargo platform being the target position, controlling the cargo platform to run to a position adjacent to the target position.

[0062] In this embodiment, the execution subject can control the cargo platform to run to an adjacent position above the target position in response to the cargo platform's running end point being the target position. The cargo platform at the target position has a possibility of collision with the transfer vehicle in at least a partial running state, and the cargo platform at the adjacent position has no possibility of collision with the transfer vehicle in all running states. For example, the target position is smaller than the running plane of the transfer vehicle, so there is a possibility of collision with the transfer vehicle in a partial running state, and the adjacent position is larger than the running plane of the transfer vehicle, so there is a possibility of collision with the transfer vehicle in all running states.

[0063] As an example, the above-mentioned execution entity can determine the division range of the target position according to the highest height of the transfer vehicle in each operating state, aiming to divide all target positions that may collide with the transfer vehicle in at least part of the operating state into the division range. For example, the division range is all positions below the highest height of the transfer vehicle on the shelf. In response to the operation end point of the cargo platform being the target position, the cargo platform is controlled to run to an adjacent position above the target position. Among them, there is no possibility of collision between the cargo platform located at the adjacent position and the transfer vehicle in any operating state. For example, the adjacent position is a position corresponding to a storage position above the highest height of the transfer vehicle in each operating state on the shelf.

[0064] Step 202, in response to the fact that the operation authority of the unit area below the target position is not obtained by the first transfer vehicle in the first operation state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0065] In this embodiment, the execution subject can determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position in response to the fact that the operation authority of the unit area below the target position is not obtained by the first transfer vehicle in the first operation state among the transfer vehicles. There can be multiple unit areas below the target position, such as the lower unit area directly below the target position, and the previous unit area and the next unit area of ​​the upper and lower unit areas in the horizontal running direction of the vertical rail.

[0066] When the transfer vehicle is running according to the running route, it can obtain the running authority of the unit area corresponding to the current position and at least one unit area in front of the current position to avoid collision with other transfer vehicles or cargo platforms during the running process. Among all the transfer vehicles in the cargo storage and retrieval system, the transfer vehicle in the first running state is determined as the first transfer vehicle.

[0067] Continuing to take the position within the above-mentioned divided range as the target position as an example, the above-mentioned execution subject can determine the corresponding relationship between each target position and each first operating state. When there is a corresponding relationship between the target position and the first operating state, it indicates that there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in the first operating state that obtains the operating authority of the unit area below the target position. For example, the height of the cargo platform at the target position is less than the height of the transfer vehicle in the first operating state.

[0068] As an example, the above-mentioned execution entity can determine the first operating state corresponding to the target position based on the corresponding relationship, so that when it is determined that the operating authority of the unit area below the target position has not been acquired by the first transfer vehicle in the first operating state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle in the cargo storage and retrieval system and the cargo platform at the target position.

[0069] In some implementations of this embodiment, the target position corresponds to the bottom storage position on the shelf, and the first operating state is a high-load state indicating that there is cargo on the lifting mechanism of the first transfer vehicle and the lifting mechanism has been lifted.

[0070] In this implementation, the execution entity may execute step 202 in the following manner: in response to the fact that the operating authority of the unit area below the target position is not acquired by the first transfer vehicle in the high-load state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0071] Continue to refer Figure 6 In theory, there is a possibility of collision between the cargo platform in the first-layer storage position and the transfer vehicle in the high-load state, but there is no possibility of collision between the cargo platform and the transfer vehicle in the low-load state or the low-load state without cargo. When the first transfer vehicle in the high-load state has the operating authority of the unit area below the target position, it indicates that the first transfer vehicle is about to or is running below the target position, and there is an actual possibility of collision between the two operating objects. On the contrary, when the first transfer vehicle in the high-load state does not have the operating authority of the unit area below the target position, it indicates that the first transfer vehicle will not pass through the unit area below the target position in a short time or at all, and therefore, there is no actual possibility of collision between the two operating objects.

[0072] In this implementation, a cargo platform operation scheme for the first-level storage space is provided, which improves the operation flexibility of the cargo platform and the transfer vehicle while ensuring the operation safety.

[0073] In some implementations of this embodiment, the target position corresponds to a cache position below the bottom storage position of the shelf, and the first operating state is a loading state indicating that there are goods on the lifting mechanism of the first transfer vehicle. The loading state includes a high loading state and a low loading state.

[0074] In this implementation, the execution entity may execute step 202 in the following manner: in response to the fact that the operating authority of the unit area below the target position is not acquired by the first transfer vehicle in the loading state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0075] Continue to refer Figure 6 In theory, the cargo platform in the cache position has the possibility of collision with the transfer vehicle in the high-load state or the low-load state, but does not have the possibility of collision with the transfer vehicle in the low-load state. When the first transfer vehicle in the cargo-load state has the operating authority of the unit area below the target position, it indicates that the first transfer vehicle is about to or is running below the target position, and there is an actual possibility of collision between the two operating objects. On the contrary, when the first transfer vehicle in the cargo-load state does not have the operating authority of the unit area below the target position, it indicates that the first transfer vehicle will not pass through the unit area below the target position in a short time or at all, and therefore, there is no actual possibility of collision between the two operating objects.

[0076] In this implementation, a cargo platform operation scheme in a cache position is provided, which improves the operation flexibility of the cargo platform and the transfer vehicle while ensuring operation safety.

[0077] In some implementations of this embodiment, the execution entity may also perform the following operations: in response to the transfer vehicle not obtaining the operating authority for the unit area below the target position, controlling the cargo platform to move from the adjacent position to the target position.

[0078] When the unit area below the target position is not authorized to operate by any transfer vehicle, it is determined that the process of the cargo platform moving from the adjacent position to the target position is safe, and the cargo platform can be controlled to move from the adjacent position to the target position.

[0079] In this implementation, a cargo platform operation control scheme for a specific situation is provided, which improves the comprehensiveness of the operation control method and the safety of the cargo platform operation process.

[0080] In some implementations of this embodiment, the above-mentioned execution entity can also perform the following operations: first, in response to the operation authority of the unit area below the target position being obtained by the first transfer vehicle, it is determined that there is a possibility of collision between the transfer vehicle and the cargo platform at the target position; then, the cargo platform is controlled to pause at an adjacent position until the first transfer vehicle releases the operation authority of the unit area below the target position.

[0081] The control time of the transfer vehicle's operating authority for the unit area is based on its operating process. When the transfer vehicle has passed the unit area, the operating authority of the unit area is released, or after passing a certain distance of the unit area, the operating authority of the unit area is released.

[0082] When the target position corresponds to the first-level storage location, in response to the operating authority of the unit area below the target position being obtained by the first transfer vehicle in the high-load state, it is determined that there is a possibility of collision between the transfer vehicle and the cargo platform at the target position; then, the cargo platform is controlled to pause at an adjacent position until the first transfer vehicle in the high-load state releases the operating authority of the unit area below the target position.

[0083] When the target position corresponds to the cache position, in response to the operating authority of the unit area below the target position being obtained by the first transfer vehicle in the loading state, it is determined that there is a possibility of collision between the transfer vehicle and the cargo platform at the target position; then, the cargo platform is controlled to pause at an adjacent position until the first transfer vehicle in the loading state releases the operating authority of the unit area below the target position.

[0084] After the first transfer vehicle releases the operating authority of the unit area below the target position, the state of the unit area below the target position is set to a prohibited operating state for the first transfer vehicle, and the cargo platform is controlled to operate from the adjacent position to the target position.

[0085] In this implementation, a cargo platform operation control scheme for a specific situation is provided, which improves the comprehensiveness of the operation control method and the safety of the cargo platform operation process.

[0086] Step 203, setting the state of the unit area below the target position to a prohibited operation state for the first transfer vehicle, and controlling the cargo platform to move from the adjacent position to the target position.

[0087] In this embodiment, the execution entity may set the state of the unit area below the target position to a prohibited operation state for the first transfer vehicle, and control the cargo platform to move from the adjacent position to the target position.

[0088] As an example, the cargo platform includes a communication module, a control module and an operation module. The above-mentioned execution subject sends a control instruction to the cargo platform to move from the adjacent position to the target position. The cargo platform receives the control instruction through the communication module, and the control module analyzes and processes the control instruction, and controls the operation module to operate, so that the cargo platform moves from the adjacent position to the target position.

[0089] In some optional implementations of this embodiment, the above execution subject may also perform the following operations:

[0090] In the first step, for a plurality of expansion unit areas corresponding to the current position of the vertical rail, in response to the fact that the operation authority of the plurality of expansion unit areas is not acquired by the second transfer vehicle in the second operation state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0091] Among them, the plurality of extended unit areas are located in front of the target unit area in the horizontal running direction, and the target unit area is located below the current position of the vertical rail.

[0092] In this implementation, the shelf can be Figure 5 The two opposite shelves are set up with cache positions.

[0093] During the horizontal operation of the vertical rail, for the second transfer vehicle in the second operation state that may collide with the vertical rail, it is necessary to pre-set a plurality of unit areas in a prohibited operation state. The unit areas in which the prohibited operation state is pre-set are the extended unit areas.

[0094] The number of extension unit areas can be specifically set according to actual conditions, for example, 3.

[0095] The second step is to set the status of the plurality of expansion unit areas to a prohibited operation status for the second transfer vehicle, and control the horizontal operation of the vertical rails.

[0096] The state of the target unit area is a prohibited operation state for the second transfer vehicle.

[0097] The above-mentioned execution entity sets the status of multiple expansion unit areas to a prohibited operation state for the second transfer vehicle, so that during the horizontal operation of the vertical rail toward the expansion unit, the second transfer vehicle will not obtain the operation authority of the expansion unit area, thereby avoiding the possibility of collision between the vertical rail and the second transfer vehicle during the horizontal operation.

[0098] In this implementation, a specific operation mode of the vertical rail is provided, which can avoid the possibility of collision with the transfer vehicle during the operation of the vertical rail, and further improve the scheduling flexibility and access efficiency on the basis of ensuring the operational safety of the cargo storage and retrieval system.

[0099] In some optional implementations of this embodiment, the second operating state is a high-load state indicating that there is cargo on the lifting mechanism of the second transfer vehicle and the lifting mechanism has been lifted.

[0100] In this implementation, the execution entity may execute the first step as follows: in response to the fact that the operating authority of the plurality of expansion unit areas is not obtained by the second transfer vehicle in the high-load state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0101] When the operating authority of multiple extension unit areas is not obtained by the second transfer vehicle in the transfer vehicle with high cargo load, it indicates that the second transfer vehicle will not pass through the extension unit area in a short time or at all. Therefore, there is no actual possibility of collision between the two operating objects.

[0102] In this implementation, a vertical rail operation solution combined with specific scenarios is provided, which further improves the operation flexibility of the vertical rail and the transfer vehicle on the basis of ensuring operation safety.

[0103] In some optional implementations of this embodiment, the target unit area includes the lower unit area directly below the current position, and the previous unit area and the next unit area of ​​the upper and lower unit areas in the horizontal running direction, and multiple extended unit areas are located in front of the previous unit area.

[0104] The reasons for setting up multiple unit areas as above are as follows:

[0105] 1. The two sides of the vertical rail are two parallel rails with a certain width, so that the rails on both sides intersect with the unit areas on both sides of the target unit area (the previous unit area and the next unit area). That is, the vertical rail has the possibility of collision with the transfer vehicle running in the previous unit area and in the first running state, and has the possibility of collision with the transfer vehicle running in the previous and next unit areas and in the first running state.

[0106] 2. Continue to refer Figure 7 , shows a schematic diagram of the state of the cargo platform at the target position. It can be seen that the cargo platform has a certain width. When the cargo platform transfers goods with the first-layer storage or cache position, there is a possibility of collision with the transfer vehicle running in the previous unit area and in a partially running state, and there is a possibility of collision with the transfer vehicle running in the previous and next unit areas and in a partially running state.

[0107] In this implementation, the execution subject may further perform the following operation: determining the number of expansion unit areas according to the current position of the vertical rail, so as to determine a plurality of expansion unit areas.

[0108] In this implementation, the number of expansion unit areas is set to a preset number in advance. During the operation of the vertical rail, when the frontmost expansion unit area in the vertical rail forward direction among the preset number of expansion unit areas does not exceed the previous unit area of ​​the target unit area corresponding to the operation end point of the vertical rail, the number of expansion unit areas is fixedly set to the preset number; when the frontmost expansion unit area reaches the previous unit area of ​​the target unit area corresponding to the operation end point of the vertical rail, the number of expansion unit areas decreases successively with the horizontal operation of the vertical rail until the number of expansion unit areas becomes 0.

[0109] Continue to refer Figure 8 , showing a schematic diagram of determining multiple unit areas. Take the vertical rail running from position A to position D, with a preset number of 3 as an example. In the process of the vertical rail running from position A to position B, the number of unit areas set under the vertical rail in a prohibited running state is 6. For example, when the vertical rail is in position A, the 6 unit areas are unit areas 1-6; when the vertical rail is in position B, the 6 unit areas are unit areas 15-20.

[0110] In the process of the vertical rail running from position B to the terminal position D, when the vertical rail is at position B, the frontmost extended unit area 20 reaches the previous unit area 20 of the target unit area 19 corresponding to the running terminal C of the vertical rail. Therefore, the number of extended unit areas decreases in sequence. For example, when the vertical rail is at position C, the five unit areas (including two extended unit areas) are unit areas 16-20.

[0111] In this implementation, the horizontal running speed of the vertical rail is relatively fast. By setting the extended unit area, it helps to further reduce the possibility of collision between the vertical rail and the transfer vehicle. In addition, the number of extended unit areas is determined according to the current position of the vertical rail, avoiding setting more extended unit areas and reducing the scheduling flexibility of the transfer vehicle.

[0112] In some optional implementations of this embodiment, the above-mentioned execution entity may also perform the following operations: first, in response to the operating authority of the expansion unit area being obtained by the second transfer vehicle in the second operating state, it is determined that there is a possibility of collision between the transfer vehicle and the vertical rail; then, the vertical rail is controlled to pause at the current position until the second transfer vehicle releases the operating authority of the expansion unit area.

[0113] The control time of the transfer vehicle's operating authority for the unit area is based on its operating process. When the transfer vehicle has passed the unit area, the operating authority of the unit area is released, or after passing a preset distance in the unit area, the operating authority of the unit area is released.

[0114] In response to the operation authority of any expansion unit area in the multiple expansion unit areas being obtained by the second transfer vehicle in the second operating state, it is determined that there is a possibility of collision between the transfer vehicle and the vertical rail, and the vertical rail is controlled to pause at the current position until the second transfer vehicle releases the operation authority of the expansion unit area.

[0115] After the second transfer vehicle releases the operation authority of the extension unit area, the status of the plurality of extension unit areas is set to a prohibited operation status for the second transfer vehicle, and the vertical rail is controlled to move horizontally.

[0116] In this implementation, a vertical rail operation scheme is provided when the operation authority of the extension unit area is acquired by the second transfer vehicle in the second operation state, thereby improving the comprehensiveness of the operation control method and the safety of the vertical rail operation process.

[0117] Continue to see Fig. 9 , Fig. 9 FIG. 9 is a schematic diagram of an application scenario of the operation control method applied to a cargo access system according to the present embodiment. Fig. 9 In the application scenario, the cargo storage and retrieval system 901 includes a transfer vehicle, a shelf, a vertical rail located outside the shelf and capable of running in a horizontal direction, and a cargo platform capable of running in a vertical direction along the vertical rail. The transfer vehicle runs based on a unit area on the operating plane to deliver cargo to the cargo platform.

[0118] The server 902 interacts with the cargo access system 901 in real time to determine the running routes, running positions and running states of the transfer vehicles, vertical rails and cargo platforms, and during the horizontal running of the vertical rails, in response to the first transfer vehicle being in the first running state, determines that there is a possibility of collision between the first transfer vehicle and the vertical rails, and sets the state of the unit area below the current position of the vertical rails to a prohibited running state for the first transfer vehicle; in response to the running end point of the cargo platform being the target position, controls the cargo platform to run to an adjacent position above the target position, wherein there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in at least a partial running state; in response to the second transfer vehicle being in the second running state, determines that there is no possibility of collision between the second transfer vehicle and the cargo platform at the target position, and controls the cargo platform to run from the adjacent position to the target position, wherein the second transfer vehicle has the running authority of the unit area below the target position.

[0119] The method provided by the above-mentioned embodiments of the present application determines that there is a possibility of collision between the first transfer vehicle and the vertical rail in response to the first transfer vehicle being in a first operating state during the horizontal operation of the vertical rail, and sets the state of the unit area below the current position of the vertical rail to a prohibited operation state for the first transfer vehicle; in response to the operation end point of the cargo platform being the target position, controls the cargo platform to operate to an adjacent position above the target position, wherein there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in at least a partial operating state; in response to the second transfer vehicle being in a second operating state, determines that there is no possibility of collision between the second transfer vehicle and the cargo platform at the target position, and controls the cargo platform to operate from the adjacent position to the target position, wherein the second transfer vehicle has the operating authority of the unit area below the target position, thereby performing targeted coordination during the operation of the vertical rail, the cargo platform and the transfer vehicle, which helps to improve scheduling flexibility and access efficiency on the basis of ensuring the operating safety of the cargo storage and retrieval system.

[0120] Continue to refer Fig.10 , shows a schematic process 1000 of another embodiment of an operation control method applied to a cargo access system according to the present application, comprising the following steps:

[0121] Step 1001: During the horizontal operation of the vertical rail, the number of expansion unit areas is determined according to the current position of the vertical rail to determine a plurality of expansion unit areas.

[0122] The multiple unit areas include a target unit area directly below the current position, a previous unit area and a next unit area of ​​the target unit area in a horizontal running direction, and an extended unit area in front of the previous unit area.

[0123] Step 1002, for a plurality of expansion unit areas corresponding to the current position of the vertical rail, in response to the fact that the operation authority of the plurality of expansion unit areas is not acquired by the second transfer vehicle in the second operation state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0124] The target unit area includes the target unit area directly below the current position, the previous unit area and the next unit area of ​​the target unit area in the horizontal running direction, and a plurality of extended unit areas are located in front of the previous unit area.

[0125] Step 1003, in response to the operation authority of the extension unit area being acquired by the second transfer vehicle in the second operation state among the transfer vehicles, it is determined that there is a possibility of collision between the transfer vehicle and the vertical rail.

[0126] Step 1004, controlling the vertical rail to pause at the current position until the second transfer vehicle releases the operating authority of the expansion unit area.

[0127] Step 1005, setting the status of the plurality of expansion unit areas to a prohibited operation state for the second transfer vehicle, and controlling the vertical rail to operate horizontally.

[0128] Step 1006, in response to the cargo platform's running end point being the target position, controlling the cargo platform to run to a position adjacent to the target position.

[0129] Step 1007, in response to the fact that the operation authority of the unit area below the target position is not obtained by the first transfer vehicle in the first operation state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0130] Step 1008, in response to the first transfer vehicle obtaining the operating authority of the unit area below the target position, determining that there is a possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0131] Step 1009, controlling the cargo platform to pause at an adjacent position until the first transfer vehicle releases the operating authority of the unit area below the target position.

[0132] Step 1010, setting the state of the unit area below the target position to a prohibited operation state for the first transfer vehicle, and controlling the cargo platform to move from the adjacent position to the target position.

[0133] It can be seen from this embodiment that Figure 2 Compared with the corresponding embodiments, the process 1000 of the operation control method applied to the cargo storage and retrieval system in this embodiment specifically illustrates the operation control process of the vertical rail and the operation control process of the cargo platform, which helps to improve the scheduling flexibility and storage and retrieval efficiency on the basis of ensuring the operation safety of the cargo storage and retrieval system.

[0134] Continue to refer Fig.11 As an implementation of the methods shown in the above figures, the present application provides an embodiment of an operation control device applied to a cargo storage and retrieval system. Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0135] like Fig.11 As shown, the cargo storage and retrieval system includes a transfer vehicle, a shelf, and a cargo platform located outside the shelf and capable of running along the shelf, the transfer vehicle runs based on a unit area on the running plane to deliver cargo to the cargo platform, and the operation control device 1100 applied to the cargo storage and retrieval system includes: a first operation unit 1101, configured to control the cargo platform to run to an adjacent position above the target position in response to the running end point of the cargo platform being the target position, wherein the cargo platform at the target position has a possibility of collision with the transfer vehicle in at least part of the running state, and the cargo platform at the adjacent position has no possibility of collision with the transfer vehicle in all running states; a possibility determination unit 1102, configured to determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position in response to the fact that the running authority of the unit area below the target position has not been obtained by the first transfer vehicle in the first running state among the transfer vehicles; a second operation unit 1103, configured to control the cargo platform to run from the adjacent position to the target position.

[0136] In some implementations of this embodiment, the target position corresponds to the bottom storage position on the shelf, the first operating state is a high-load state characterizing that there is cargo on the lifting mechanism of the first transfer vehicle and the lifting mechanism has been lifted, and the above-mentioned possibility determination unit 1102 is further configured to: in response to the operating authority of the unit area below the target position not being acquired by the first transfer vehicle in the high-load state, determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0137] In some implementations of this embodiment, the target position corresponds to a cache position below the bottom storage position of the shelf, the first operating state is a loading state characterizing that there are goods on the lifting mechanism of the first transfer vehicle, and the above-mentioned possibility determination unit 1102 is further configured to: in response to the operating authority of the unit area below the target position not being acquired by the first transfer vehicle in the loading state, determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0138] In some implementations of this embodiment, the possibility determination unit 1102 is further configured to: in response to the first transfer vehicle obtaining the operating authority of the unit area below the target position, determine the possibility of a collision between the transfer vehicle and the cargo platform at the target position; the second operation unit 1103 is further configured to control the cargo platform to pause at an adjacent position until the first transfer vehicle releases the operating authority of the unit area below the target position.

[0139] In some implementations of this embodiment, the cargo storage and retrieval system also includes a vertical rail that is arranged on the outside of one of the two opposite shelves and can run in the horizontal direction, the cargo platform can run along the vertical rail in the vertical direction, and the possibility determination unit 1102 is also configured to: for multiple extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the operating authority of the multiple extended unit areas has not been acquired by the second transfer vehicle in the second operating state in the transfer vehicle, determine that there is no possibility of collision between the transfer vehicle and the vertical rail, wherein the multiple extended unit areas are located in front of the target unit area in the horizontal operating direction, and the target unit area is located below the current position of the vertical rail; the above-mentioned device also includes: a third operating unit (not shown in the figure), which is configured to set the status of the multiple extended unit areas to a prohibited operating state for the second transfer vehicle, and control the horizontal operation of the vertical rail, wherein the status of the target unit area is a prohibited operating state for the second transfer vehicle.

[0140] In some implementations of this embodiment, the second operating state is a high-load state characterizing that there is cargo on the lifting mechanism of the second transfer vehicle and the lifting mechanism has been lifted; and the above-mentioned possibility determination unit 1102 is further configured to: in response to the operating authority of multiple expansion unit areas not being obtained by the second transfer vehicle in the high-load state in the transfer vehicle, determine that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0141] In some implementations of this embodiment, the target unit area includes a lower unit area directly below the current position, and a previous unit area and a next unit area of ​​the upper and lower unit areas in the horizontal running direction, multiple extended unit areas are located in front of the previous unit area, and the above-mentioned device also includes: an area determination unit (not shown in the figure), which is configured to determine the number of extended unit areas according to the current position of the vertical rail to determine multiple extended unit areas.

[0142] In some implementations of this embodiment, the possibility determination unit 1102 is further configured to: in response to the operating authority of the extended unit area being obtained by the second transfer vehicle in the second operating state among the transfer vehicles, determine that there is a possibility of collision between the transfer vehicle and the vertical rail; the third operating unit (not shown in the figure) is further configured to: control the vertical rail to pause at the current position until the second transfer vehicle releases the operating authority of the extended unit area.

[0143] In this embodiment, the first operating unit in the operation control device applied to the cargo storage and retrieval system controls the cargo platform to operate to an adjacent position above the target position in response to the operation end point of the cargo platform being the target position, wherein there is a possibility of collision between the cargo platform at the target position and the transfer vehicle in at least some of the operation states, and there is no possibility of collision between the cargo platform at the adjacent position and the transfer vehicle in all operation states; the possibility determination unit determines that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position in response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the first operation state among the transfer vehicles; the second operating unit controls the cargo platform to operate from the adjacent position to the target position, thereby dividing the operation stage of the cargo platform into two stages. In the first stage, the cargo platform is controlled to operate to an adjacent position above the operation end point, and in the second stage, whether it immediately operates to the operation end point is controlled based on the possibility of collision between the cargo platform and the transfer vehicle. This helps to improve scheduling flexibility and storage and retrieval efficiency while ensuring the operation safety of the cargo storage and retrieval system.

[0144] Reference below Fig.12 , which shows a device suitable for implementing the embodiments of the present application (eg Figure 1 A schematic diagram of the structure of a computer system 1200 of the devices 101, 102, 103, 105 shown. Fig.12 The device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0145] like Fig.12 As shown, the computer system 1200 includes a processor (e.g., CPU, central processing unit) 1201, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1202 or a program loaded from a storage part 1208 to a random access memory (RAM) 1203. Various programs and data required for the operation of the system 1200 are also stored in the RAM 1203. The processor 1201, ROM 1202, and RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0146] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed, so that a computer program read therefrom is installed into the storage section 1208 as needed.

[0147] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1209, and / or installed from a removable medium 1211. When the computer program is executed by the processor 1201, the above-mentioned functions defined in the method of the present application are executed.

[0148] It should be noted that the computer-readable medium of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0149] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the client computer, partially on the client computer, as a separate software package, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the client computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0150] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0151] The units involved in the embodiments described in the present application may be implemented by software or by hardware. The units described may also be provided in a processor, for example, may be described as: a processor comprising a first operating unit, a possibility determination unit, and a second operating unit. The names of these units do not, in some cases, constitute limitations on the units themselves, for example, the second operating unit may also be described as a "unit for controlling the cargo platform to move from an adjacent position to a target position".

[0152] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the device, the computer device: in response to the running end point of the cargo platform being the target position, controls the cargo platform to run to the adjacent position above the target position, wherein the cargo platform at the target position has the possibility of collision with the transfer vehicle in at least part of the running state, and the cargo platform at the adjacent position has no possibility of collision with the transfer vehicle in all running states; in response to the operation authority of the unit area below the target position not being obtained by the first transfer vehicle in the first running state among the transfer vehicles, determines that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position; controls the cargo platform to run from the adjacent position to the target position.

[0153] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. An operation control method applied to a cargo storage and retrieval system, the cargo storage and retrieval system comprising a transfer vehicle, a shelf, and a cargo platform located outside the shelf and capable of running along the shelf, the transfer vehicle running based on a unit area on a running plane to deliver cargo to the cargo platform, the method comprising: In response to the cargo platform's running end point being a target position, controlling the cargo platform to run to an adjacent position above the target position, wherein the cargo platform at the target position has a possibility of collision with a transfer vehicle in at least some running states, and the cargo platform at the adjacent position has no possibility of collision with a transfer vehicle in all running states; In response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the first operation state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position; The state of the unit area below the target position is set to a prohibited operation state for the first transfer vehicle, and the cargo platform is controlled to move from the adjacent position to the target position.

2. The method according to claim 1, wherein: The target position corresponds to the bottom storage position on the shelf, the first operating state is a high-load state indicating that there is cargo on the lifting mechanism of the first transfer vehicle and the lifting mechanism has been lifted, and In response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the first operation state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position includes: In response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the cargo high position state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

3. The method according to claim 1, wherein: The target position corresponds to a cache position below the bottom storage position of the shelf, the first operating state is a state indicating that there is cargo loading on the lifting mechanism of the first transfer vehicle, and In response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the first operation state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position includes: In response to the operation authority of the unit area below the target position not being acquired by the first transfer vehicle in the cargo-carrying state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

4. The method according to any one of claims 1 to 3, wherein: Also includes: In response to the operation authority of the unit area below the target position being acquired by the first transfer vehicle, determining that there is a possibility of collision between the transfer vehicle and the cargo platform at the target position; The cargo platform is controlled to pause at the adjacent position until the first transfer vehicle releases the operating authority of the unit area below the target position.

5. The method according to claim 1, wherein: The cargo storage and retrieval system further includes a vertical rail disposed on the outside of one of the two opposite shelves and capable of running in a horizontal direction, and the cargo platform can run along the vertical rail in a vertical direction, and The method further comprises: For a plurality of expansion unit areas corresponding to the current position of the vertical rail, in response to the operation authority of the plurality of expansion unit areas not being acquired by a second transfer vehicle in a second operation state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicle and the vertical rail, wherein the plurality of expansion unit areas are located in front of a target unit area in a horizontal operation direction, and the target unit area is located below the current position of the vertical rail; The states of the plurality of expansion unit areas are set to a prohibited operation state for the second transfer vehicle, and the vertical rail is controlled to run horizontally, wherein the state of the target unit area is a prohibited operation state for the second transfer vehicle.

6. The method according to claim 5, wherein: The second operating state is a high-load state indicating that there is cargo on the lifting mechanism of the second transfer vehicle and the lifting mechanism has been lifted; as well as In response to the operation authority of the plurality of expansion unit areas not being acquired by the second transfer vehicle in the second operation state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicle and the vertical rail comprises: In response to the fact that the operation authority of the plurality of expansion unit areas is not acquired by the second transfer vehicle in the high-load state among the transfer vehicles, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail.

7. The method according to claim 5, wherein: The target unit area includes a lower unit area directly below the current position, and a previous unit area and a next unit area of ​​the lower unit area in a horizontal running direction, and a plurality of the extended unit areas are located in front of the previous unit area, and The method further comprises: The number of the expansion unit areas is determined according to the current position of the vertical rail, so as to determine a plurality of the expansion unit areas.

8. The method according to claim 5, wherein: Also includes: In response to the operation authority of the expansion unit area being acquired by a second transfer vehicle in a second operation state among the transfer vehicles, determining that there is a possibility of collision between the transfer vehicle and the vertical rail; The vertical rail is controlled to pause at the current position until the second transfer vehicle releases the operating authority of the expansion unit area.

9. An operation control device applied to a cargo storage and retrieval system, the cargo storage and retrieval system comprising a transfer vehicle, a shelf, and a cargo platform located outside the shelf and capable of running along the shelf, the transfer vehicle running based on a unit area on the running plane to deliver cargo to the cargo platform, the device comprising: The first operation unit is configured to control the cargo platform to operate to an adjacent position above the target position in response to the operation end point of the cargo platform being the target position, wherein the cargo platform at the target position has a possibility of collision with the transfer vehicle in at least some operation states, and the cargo platform at the adjacent position has no possibility of collision with the transfer vehicle in all operation states; a possibility determination unit configured to determine that there is no possibility of collision between the transfer vehicle and the cargo platform at the target location in response to the operation authority of the unit area below the target location not being acquired by the first transfer vehicle in the first operation state among the transfer vehicles; The second operation unit is configured to set the state of the unit area below the target position to a prohibited operation state for the first transfer vehicle, and control the cargo platform to operate from the adjacent position to the target position.

10. A computer readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

12. A computer program product comprising: A computer program which, when executed by a processor, implements the method according to any one of claims 1 to 8.

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