A high-precision motion control method and system for stacker crane based on fuzzy immune algorithm

Abstract

The present invention provides a high-precision motion control method and system for a stacker based on a fuzzy immune algorithm, which belongs to the field of stacker control and solves the problems of low operating accuracy and poor control efficiency of existing stackers. The system includes a multi-axis motion control module, a dual closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, an environment and maintenance management module, and a stacker. The method includes the following steps: constructing a three-level control architecture; adjusting the integral coefficient and the differential coefficient; establishing a feedback quantity calculation model; constructing machine learning parameters; and optimizing the parameter input system. Based on the fuzzy immune algorithm, the system achieves high precision, strong adaptability and high reliability in the motion control of the stacker and reduces the failure rate. The stacker adopts a modular design and an integrated intelligent control system, which is efficient and stable. The method combines fuzzy logic with the immune algorithm to give the stacker intelligent decision-making capabilities and adapt to different warehouses.

Description

Technical Field

[0001] The present invention belongs to the technical field of stacker crane control, and relates to a high-precision motion control method for a stacker crane based on a fuzzy immune algorithm, in particular to a high-precision motion control system for a stacker crane based on a fuzzy immune algorithm. Background Art

[0002] In automated logistics and warehousing systems, stacker cranes serve as core handling equipment. Their motion control accuracy, response speed, and anti-interference capabilities directly determine the system's operational efficiency and stability. As intelligent warehousing evolves toward higher density and higher throughput, stacker cranes must operate under complex conditions, posing a significant challenge to traditional control methods.

[0003] Conventional PID controllers are widely used due to their simple structure and ease of implementation. However, their fixed parameters make them difficult to adapt to the nonlinear dynamic characteristics of stacker cranes, flexible vibration of wire ropes, time-varying track friction, and external disturbances. This is especially true during high-speed commutation or sudden load changes, where overshoot, oscillation, and even instability can occur.

[0004] While fuzzy control based on expert experience can partially handle nonlinear problems, its rule base and membership functions rely on manual design and lack adaptive optimization capabilities. When the stacker crane's operating modes are diversified and priority is adjusted, control performance degrades significantly.

[0005] Therefore, we propose a high-precision motion control method and system for stacker crane based on fuzzy immune algorithm. Summary of the Invention

[0006] The purpose of the present invention is to address the above-mentioned problems in the existing technology and propose a high-precision motion control method and system for a stacker based on a fuzzy immune algorithm. The technical problem to be solved by the invention is: how to achieve high precision, strong adaptability and high reliability of the stacker motion control by coordinating the control system control method with the stacker.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A high-precision motion control system for a stacker crane based on a fuzzy immune algorithm includes a multi-axis motion control module, a dual closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, and an environment and maintenance management module.

[0009] The working principle of the present invention is as follows: the multi-axis motion control module coordinates the synchronous movement of the stacker's horizontal movement, vertical lifting, and fork extension and retraction to achieve three-axis linkage control; the dual closed-loop feedback module adopts position loop + speed loop closed-loop control, combined with encoder and grating scale data, to correct motion deviation in real time; the parameter self-learning module is based on the fuzzy immune algorithm, dynamically learns parameters such as load changes and mechanical wear, and optimizes PID control parameters; the safety protection and diagnosis module monitors abnormalities such as vibration, temperature, and current, triggers emergency stop or speed reduction, and records fault codes to assist maintenance; the positioning detection module integrates multi-sensor data such as absolute grating scale and laser ranging to achieve ±0.1mm positioning accuracy; the path planning module dynamically plans the optimal path according to the warehousing task to avoid deadlock and collision; the environment and maintenance management module monitors temperature, humidity, and dust concentration, predicts the life of key components, and generates maintenance plans.

[0010] The multi-axis motion control module integrates a fuzzy immune algorithm processing unit and is connected to the servo drive via the EtherCAT bus. The multi-axis motion control module supports: horizontal speed control range of 0-180m / min, acceleration ≤0.3m / s²; vertical speed control range of 0-45m / min, smooth acceleration and deceleration S-curve transition; multi-target point path planning function, and supports online interpolation operations.

[0011] The dual closed-loop feedback module includes: horizontal positioning using an absolute grating ruler with a resolution of ≤0.01mm and an allowed axial floating amount of ±1mm; vertical positioning using a magnetostrictive sensor with a repeat positioning accuracy of ≤±0.5mm; and a speed loop using a 24-bit high-precision encoder with a speed detection error of ≤±0.1%.

[0012] The parameter self-learning module is equipped with an FPGA-accelerated machine learning processor to store a database of historical operating data; data acquisition: stores historical operating data with a sampling interval of ≤10ms; LSTM network structure: input layer → three hidden layers → output layer; online learning: uses an incremental learning algorithm with a model update cycle of ≤1 hour.

[0013] The safety protection and diagnosis module monitors the current and temperature parameters of the travel motor in real time, and starts the dynamic load reduction program when the power exceeds 22KW; safety monitoring and diagnosis, fault tree analysis: 20 types of fault modes are preset, triggering hierarchical protection: Level 1 alarm: reduce the operating speed; Level 2 alarm: emergency shutdown and locking mechanism; self-diagnosis function: automatically perform servo motor winding insulation detection at daily startup; real-time monitoring of EtherCAT network communication packet loss rate.

[0014] The safety protection module also includes a vibration suppression unit and a rope break protection unit. The vibration suppression unit detects abnormal vibrations through a three-axis acceleration sensor and automatically adjusts the control parameters; the rope break protection unit triggers emergency braking when the wire rope tension drops by more than 20% of the rated value.

[0015] The horizontal positioning of the positioning detection module adopts an absolute grating ruler laid along the entire length of the ground guide rail, and the reading head is installed at the bottom of the walking mechanism; vertical positioning: the magnetostrictive sensor is embedded in the column, and the detection rod is rigidly connected to the cargo platform mechanism.

[0016] The path planning module includes a dynamic path planning optimization algorithm unit, a vibration suppression unit and a digital twin unit. The dynamic path planning optimization algorithm unit avoids obstacles while selecting the shortest and smoothest path, reducing unnecessary starts, stops and turns; the vibration suppression unit eliminates sensor noise through software filtering, or adds S-shaped acceleration and deceleration curve planning during the acceleration stage to suppress mechanical vibration; the digital twin unit establishes a digital twin model of the stacker, simulates the operating status and predicts potential errors, and optimizes parameters in advance.

[0017] The environment and maintenance management module includes an environment detection control unit, a preventive maintenance unit and an operation specification training unit. The environment detection control unit monitors temperature and humidity in real time to maintain a constant temperature and humidity in the warehouse to avoid material deformation caused by temperature fluctuations; regularly cleans dust and debris on the guide rails and transmission components; the preventive maintenance unit reminds regular inspection and lubrication of key components such as guide rails, gears, and bearings; uses a vibration analyzer to monitor abnormal vibration of the motor and transmission system; predicts component life through historical data and replaces wearing parts in advance; the operation specification training unit plays standard operation videos to avoid overloading or unbalanced loading, ensure the stability of the center of gravity of the goods, and reduce the impact on the forks and columns.

[0018] The control system supports CANopen and Profinet dual-protocol communication interfaces; online parameter setting function, providing expert debugging mode; and a visual monitoring interface for operating status, which displays positioning error curves and energy consumption data in real time.

[0019] It also includes a stacker, which includes a ground rail and an absolute grating scale placed on the warehouse floor and arranged in parallel, and a ceiling rail placed on the top of the warehouse, a mobile frame mechanism is provided between the ground rail and the ceiling rail, an electric control box with a screen and a ladder are provided on the left side of the mobile frame mechanism, a cargo platform mechanism is provided on the transmission of the mobile frame mechanism, an angle lifting and fine-tuning mechanism is provided on the upper end of the cargo platform mechanism, a transverse fine-tuning mechanism is provided on the upper end of the angle lifting and fine-tuning mechanism, a telescopic fork plate mechanism is provided on the upper end of the transverse fine-tuning mechanism, and a flat cable guide is provided between the cargo platform mechanism and the lower part of the mobile frame mechanism.

[0020] With the above structure, the electric control box with screen integrates PLC controller and human-machine interface to control equipment movement, parameter setting and status monitoring. The ladder provides a safe passage for maintenance personnel to facilitate maintenance on the top of the equipment.

[0021] The ground rail and the ceiling rail are set parallel to the floor and ceiling of the warehouse, forming the horizontal movement track of the stacker crane to ensure stable operation of the equipment. The mobile frame mechanism is located between the ground rail and the ceiling rail. It is driven by a motor to move horizontally along the track, carrying the loading platform mechanism to achieve horizontal positioning between shelves. The absolute grating scale high-precision position feedback device monitors the horizontal displacement of the mobile frame in real time. The loading platform mechanism rises and falls vertically along the mobile frame mechanism to achieve lifting and positioning between shelves and perform coarse positioning.

[0022] The angle lifting fine-tuning mechanism adjusts the rotation angle and height of the telescopic fork mechanism, and the transverse fine-tuning mechanism fine-tunes the position of the telescopic fork mechanism in the horizontal direction to ensure that the telescopic fork mechanism is accurately aligned with the cargo position;

[0023] Telescopic fork plate mechanism with bidirectional telescopic forks to directly grab or place pallet cargo;

[0024] Telescopic fork plate mechanism The forks can be extended in both directions to directly grab or place pallet cargo.

[0025] Flat cable guides manage power and signal cables when the cargo platform mechanism is raised or lowered, preventing entanglement and abrasion to ensure electrical safety.

[0026] The stacker also includes two ground travel switch bumpers placed on the warehouse floor. The two ground travel switch bumpers are located on both sides of the ground rail, and the two ground travel switch bumpers are respectively located at the left and right ends of the ground rail.

[0027] With the above structure, when the mobile frame mechanism moves horizontally along the ground rail and approaches the rail limit position, the travel switch installed at its bottom will contact the ground travel switch block, and the signal triggers the sending of an electrical signal to the electric control box with a screen. After receiving the signal, the electric control box with a screen immediately cuts off the driving power of the mobile frame mechanism and activates the braking device to force the mobile frame to stop moving. At the same time, the human-machine interface of the electric control box with a screen displays "overtravel alarm" to prompt the operator to handle it.

[0028] The left and right sides of the driven upper beam are respectively provided with sprocket shafts 1 of equal height, and the sprocket shaft 1 is fixed with two transmission double-row sprockets 1, and the right side of the driven upper beam is rotated by two sprocket shafts 2. The right side of the driven upper beam is rotated by two sprocket shafts 2. A sprocket shaft 2 is provided for rotating on the left side of the driven upper crossbeam, and a transmission double-row sprocket 2 is fixed on the left sprocket shaft 2. The height of the sprocket shaft 2 is equal to and lower than the height of the sprocket shaft 1. One end of the lifting chain 1 is connected to the upper end of the counterweight block group, and the other end of the lifting chain 1 is connected to the upper left end of the cargo platform mechanism. The lifting chain 1 is connected in sequence to the transmission double-row sprocket 1 on the front side of the left sprocket shaft 1, the transmission double-row sprocket 1 on the front side of the right sprocket shaft 1, the active double-row sprocket on the front side, and the two sprockets on the right side. The transmission double-row sprocket 2 on the front side of shaft 2 and the transmission double-row sprocket 2 on the sprocket shaft 2 on the left side, one end of the lifting chain 2 is connected to the upper end of the counterweight block group, and the other end of the lifting chain 2 is connected to the upper right end of the cargo platform mechanism. The lifting chain 2 is sequentially connected to the transmission double-row sprocket 1 on the rear side of the left sprocket shaft 1, the transmission double-row sprocket 1 on the rear side of the right sprocket shaft 1, the active double-row sprocket on the rear side, and the transmission double-row sprocket 2 on the rear side of the two sprocket shafts 2 on the right side. Several shift fork orthogonals are provided on the side of the movable lower beam.

[0029] With the above structure, the movable lower crossbeam is driven and moved above the ground rail. Several shift fork orthogonals absorb the vibration or deviation of the movable lower crossbeam during operation, ensuring the stable operation of the movable lower crossbeam. The movable lower crossbeam, left column, right column and driven upper crossbeam cooperate with each other. The driven upper crossbeam moves by rolling on the ceiling rail. The driven upper crossbeam is braked on the ceiling rail by the ceiling rail brake parts to suppress the swing of the movable frame mechanism.

[0030] The lifting motor starts, and the output shaft of the lifting motor drives the rotating shafts of the two active double-row sprockets to rotate, thereby driving the two active double-row sprockets to rotate synchronously; the lifting chain 1: starts from the upper end of the counterweight block group → passes around the front sprocket of the left column sprocket shaft → the front sprocket of the right column sprocket shaft → the front active double-row sprocket → the second front sprocket of the two sprocket shafts on the right side → the second sprocket of the left sprocket shaft → finally connects to the left side of the cargo platform mechanism;

[0031] Lifting chain 2: Starts from the upper end of the counterweight block group → passes around the left column sprocket shaft and the rear sprocket → the right column sprocket shaft and the rear sprocket → the rear active double-row sprocket → the rear sprockets of the two sprocket shafts on the right → finally connects to the right side of the cargo platform mechanism;

[0032] The cargo platform mechanism rises: the active double-row sprocket drives the lifting chain 1 and lifting chain 2 in the positive direction, the cargo platform mechanism rises, and the counterweight block group drops synchronously along the left column through the guide wheel to offset the load weight;

[0033] The cargo platform mechanism descends: the lifting motor reverses, driving the reverse traction of lifting chain 1 and lifting chain 2, and the counterweight block group rises to provide reverse pulling force to ensure smooth lifting.

[0034] The left and right sides of the two side beams are respectively provided with a left and right symmetrical side beam frame, a left and right symmetrical side beam frame and a right and right symmetrical side beam frame. The left and right sides of the two side beam frames are respectively provided with a left and right symmetrical side beam frame. The left and right sides of the two side beam frames are respectively provided with a left and right symmetrical side beam frame. The left and right sides of the two side beam frames are respectively provided with a left and right symmetrical side beam frame. The left and right sides of the two side beam frames are respectively provided with a left and right symmetrical side beam frame. The left and right sides of the two side beam frames are respectively provided with a left and right symmetrical side beam frame.

[0035] With the above structure, the lifting motor drives the active double-row sprocket to rotate, and the lifting chain one and the lifting chain two pull the cargo platform mechanism to move vertically along the column; the clamping wheel group rolls against the left column and the right column to ensure the accurate movement trajectory of the cargo platform mechanism to prevent deflection; when the cargo platform mechanism needs to stop to reach the target layer or emergency stop, the electrical box sends a signal to the brake electric push rod, the brake electric push rod extends, overcomes the tension of the reset spring, and pushes the swing frame to rotate around the fixed axis, and the swing frame drives the toggle rod to tilt the brake block along the brake frame, pressing the left and right columns, and braking the cargo platform mechanism by friction; the brake is released and reset, the brake electric push rod retracts, and the reset spring pulls the brake block to move in the opposite direction of the brake frame, disengaging from the left and right columns, and the cargo platform mechanism resumes free movement; integrated wiring management: wire installation tube, centralized management of the cables of the electrical box and push rod, to avoid cable entanglement or wear during lifting.

[0036] The angle lifting and fine-tuning mechanism includes a fixed base, which is fixed to the upper end of the base, and a plurality of lifting hydraulic cylinders are fixed to the upper end of the fixed base. A lifting base is fixed to the telescopic end of the lifting hydraulic cylinder, and a sliding rod is fixed to the four corners of the lower end of the lifting base. The sliding rod is slidably arranged on the fixed base, and a plurality of rotation sensors are fixed to the upper end of the lifting base. A rotating top plate is provided at the upper end of the lifting base for rotation, and a driven shaft gear is fixed on the rotating shaft of the rotating top plate. A rotating motor is fixed to the lower end of the lifting base, and the output shaft of the rotating motor passes through the lifting base and a driving gear is fixed on the output shaft of the rotating motor, and the driving gear is meshed with the driven shaft gear.

[0037] With the above structure, vertical height adjustment: several lifting hydraulic cylinders push the lifting base plate, and the slide rod slides vertically on the fixed base. The slide rod guide ensures the linearity of the movement; after reaching the target height, the lifting hydraulic cylinder maintains pressure and fixes the position, and the slide rod cooperates with the fixed base to eliminate vibration offset; horizontal angle fine-tuning: the rotary motor drives the driving gear to rotate, and the gear meshing drives the driven shaft teeth to make the rotating top plate rotate around the axis; the rotation position sensor monitors the rotation angle in real time, and the data is fed back to the control system to dynamically correct the motor speed to ensure angle accuracy.

[0038] The transverse fine-tuning mechanism includes a transverse base plate, which is fixed to the upper end of the rotating top plate. The upper end of the transverse base plate is provided with a transverse electric screw and two slide rails. The two slide rails are located on both sides of the transverse electric screw. A transverse top plate is slidably provided on the two slide rails, and the transverse top plate is transmission-connected to the transverse electric screw.

[0039] Using the above structure, horizontal position adjustment: the lateral electric screw receives the control signal to rotate, pushing the lateral top plate to move horizontally left and right along the slide rail; the slide rails on both sides constrain the motion trajectory to prevent offset or jamming and ensure linearity; the servo motor of the lateral electric screw has a built-in encoder to monitor the screw angle in real time, convert it into displacement, and dynamically correct the position error.

[0040] The telescopic fork plate mechanism includes a telescopic base plate, which is fixed to the upper end of the transverse top plate, and fixed guide rails are fixed on the left and right sides of the upper end of the telescopic base plate. A telescopic positioning motor is fixed to the middle of the upper end of the telescopic base plate, and a dual-output shaft transmission seat is fixed to the middle of the lower end of the telescopic base plate. The output shaft of the telescopic positioning motor is transmission-connected to the input shaft of the dual-output shaft transmission seat, and the left and right sides of the lower end of the telescopic base plate are rotatably provided with a positioning active shaft, and the positioning active shaft is transmission-connected to the output shaft on the same side of the dual-output shaft transmission seat, and a positioning active sprocket is fixed on the positioning active shaft, and a first limit sensor is fixed to the four corners of the upper end of the telescopic base plate, and two first telescopic sprockets staggered up and down are rotatably provided at the four corners of the upper end of the telescopic base plate. The wheel and the first limit sensor are both located on the inner side of the fixed guide rail on the same side, a movable guide rail is slidably provided at the upper end of the fixed guide rail, a second limit sensor is fixed on the front and rear sides of the upper end of the movable guide rail, a second telescopic sprocket is rotatably provided on the front and rear sides of the upper end of the movable guide rail, and a fork plate is slidably provided on the upper end of the movable guide rail, a telescopic chain 1 is transmitted between the positioning driving sprocket on the same side and the two first telescopic sprockets below, one section of the telescopic chain 1 is fixedly connected to the movable guide rail, a telescopic chain 2 is transmitted between the two first telescopic sprockets above the same side and the two second telescopic sprockets, one section of the telescopic chain 2 is fixedly connected to one section of the telescopic chain 1, and the fork plate is fixedly connected to one section of the telescopic chain 2.

[0041] With the above structure, the telescopic adjustment motor starts and synchronously drives the rotation of the adjustment drive shafts on both sides through the dual output shaft transmission seat; the adjustment drive sprocket rotates with the shaft, pulling the telescopic chain 1 to move; the first-level extension (movable guide rail extension): telescopic chain 1 transmission: the fixed node of telescopic chain 1 pushes the movable guide rail to slide outward along the fixed guide rail; the guide constraint: the linear bearing of the fixed guide rail ensures the smooth movement of the movable guide rail; the second-level extension (fork plate extension): telescopic chain 2 linkage: when telescopic chain 1 moves, it drives telescopic chain 2 to move synchronously through the fixed node, and the fixed node of telescopic chain 2 pushes the fork plate to extend a second time along the movable guide rail; proportional control: the sprocket diameter ratio is designed to make the fork plate extend at twice the speed of the movable guide rail, achieving rapid coverage of the shelf depth; limit and braking: sensor triggering: when the fork plate reaches the maximum extension position, the second limit sensor detects the signal, the motor stops and applies electromagnetic braking; the retraction process: the telescopic adjustment motor reverses, telescopic chain 1 and telescopic chain 2 pull in opposite directions, the movable guide rail and fork plate are retracted step by step, and the first limit sensor confirms that they are fully reset.

[0042] A high-precision motion control method for a stacker crane based on a fuzzy immune algorithm comprises the following steps: Step 1, constructing a three-level control architecture, establishing a PID control model that integrates fuzzy control rules and immune feedback mechanism, and constructing a three-level control architecture including a proportional factor dynamic adjustment layer, a fuzzy integral differential parameter layer, and an immune feedback correction layer;

[0043] Wherein: the proportional factor dynamic adjustment layer adjusts the proportional coefficient Kp in real time based on the load change rate and environmental disturbance;

[0044] The fuzzy integral differential parameter layer dynamically optimizes the integral coefficient Ki and the differential coefficient Kd through a fuzzy logic controller;

[0045] The immune feedback correction layer uses an immune feedback mechanism to perform nonlinear compensation on Kp;

[0046] Step 2: Adjust the integral and differential coefficients: The stacker crane displacement deviation E and deviation change rate EC are collected in real time through a fuzzy logic controller. The input variables are fuzzified using a triangular membership function. The integral coefficient adjustment factor ΔKi and the differential coefficient adjustment factor ΔKd are generated based on a preset fuzzy rule base. The domain of the fuzzy rule base's input variables E and EC is divided into seven fuzzy subsets, and the adjustment range of the output variables ΔKi and ΔKd is [0.5, 1.5].

[0047] Step 3: Establish a feedback calculation model: Introduce the immune feedback mechanism to perform nonlinear optimization on the proportional coefficient Kp, establish a feedback calculation model based on antibody concentration adjustment, and calculate the immune feedback factor α in real time according to the system response state;

[0048] Step 4: Build machine learning parameters: Use the parameter self-learning module to learn historical operation data, use the LSTM network to build a dynamic mapping model of control parameters, and output the initial optimized values ​​of PID parameters;

[0049] Step 5. Optimize the parameter input system: Input the optimized PID parameters into the servo drive system to control the stacker crane actuator to operate under the technical indicators of horizontal positioning accuracy ≤±5mm, vertical positioning accuracy ≤±5mm, horizontal speed 180m / min and vertical speed 45m / min.

[0050] The calculation formula of the immune feedback factor α in step 3 is: , where K is the immune gain coefficient, η is the suppression coefficient, β is the adjustment factor, and e(t) is the real-time tracking error;

[0051] The regulating factor β of the immune feedback factor α is adaptively adjusted according to the dynamic response state of the system, and the adjustment formula is: , where β0 is the initial value and γ is the adaptive gain coefficient.

[0052] In step 4, the LSTM network includes three hidden layers. The input features of the LSTM network include speed deviation, load change rate, and ambient temperature parameters. The output layer of the LSTM network uses a Sigmoid activation function to normalize the PID parameters. The normalization range is: .

[0053] The proportional factor dynamic adjustment layer in the three-level control architecture automatically corrects the basic proportional coefficient according to the load change rate; the fuzzy integral differential parameter layer uses the Mamdani reasoning method to make fuzzy decisions; and the immune feedback correction layer realizes adaptive adjustment of the control gain through a nonlinear function.

[0054] Compared with the existing technology, the high-precision motion control method and system of stacker crane based on fuzzy immune algorithm has the following advantages:

[0055] Based on a fuzzy immune algorithm, this system achieves high precision, strong adaptability, and high reliability in stacker crane motion control. Through multi-axis coordinated control, dual closed-loop feedback, and parameter self-learning, the system dynamically optimizes PID parameters, suppresses interference such as sudden load changes and mechanical wear, significantly reduces overshoot, and improves response speed. Furthermore, safety protection and path planning modules ensure operational safety, while the environmental management module supports predictive maintenance, significantly reducing failure rates. It is suitable for demanding scenarios such as high-density warehousing and cold chain logistics.

[0056] This stacker crane utilizes a modular design, integrating high-precision transmission, redundant safety mechanisms, and an intelligent control system, delivering both efficiency and stability. Its unique angle / lateral adjustment mechanism automatically compensates for shelf errors and accommodates a wide range of pallet sizes. Its low noise and energy-saving design make it an ideal choice for modern high-bay warehouses.

[0057] This method innovatively combines fuzzy logic with an immune algorithm to empower stacker cranes with intelligent decision-making capabilities. A fuzzy rule base quantifies motion errors, while the immune algorithm dynamically generates "antibody" parameters for precise, anti-interference control. Compared to traditional PID control, its self-learning capabilities adapt to diverse operating conditions, eliminating the need for manual parameter adjustment. Furthermore, its ability to memorize historical data optimizes efficiency, making it particularly suitable for long-term automated warehousing systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a block diagram of the control system in the present invention.

[0059] Figure 2 It is a schematic diagram of the three-dimensional structure of the stacker in the present invention.

[0060] Figure 3 It is a front perspective structural diagram of some components of the stacker in the present invention.

[0061] Figure 4 It is a schematic diagram of the rear three-dimensional structure of some components of the stacker in the present invention.

[0062] Figure 5 This invention Figure 4 Schematic diagram of the enlarged structure at point A in the middle.

[0063] Figure 6 It is a schematic diagram of the lifting chain transmission in the present invention.

[0064] Figure 7 It is a structural schematic diagram of the cargo platform mechanism in the present invention.

[0065] Figure 8 It is a schematic diagram of the angle lifting fine-tuning mechanism, the lateral movement fine-tuning mechanism and the telescopic fork plate mechanism in the present invention.

[0066] Figure 9 It is a structural schematic diagram of the angle lifting and fine-tuning mechanism in the present invention.

[0067] Figure 10 It is a structural diagram of the transverse fine-tuning mechanism in the present invention.

[0068] Figure 11 It is a structural schematic diagram of the telescopic fork plate mechanism in the present invention.

[0069] Figure 12 It is a flow chart of the control method in the present invention.

[0070] In the figure, 1. ground rail; 2. mobile frame mechanism; 3. cargo platform mechanism; 4. angle lifting fine-adjustment mechanism; 5. transverse fine-adjustment mechanism; 6. telescopic fork plate mechanism; 7. overhead rail; 8. electric control box with screen; 9. ladder; 10. absolute grating scale; 11. flat cable guide; 12. driven upper crossbeam; 13. left column; 14. moving lower crossbeam; 15. right column; 16. shift fork orthogonal device; 17. counterweight block group; 18. ground travel switch contact block; 19. base; 20. mounting frame; 21. wire mounting tube; 22. side beam frame; 23. electrical box; 24. clamping wheel group; 25. fixed shaft; 26. toggle lever; 27. swing frame; 28. brake block; 29. ​​brake frame; 30. return spring; 31. fixed base; 32. slide bar; 33. lifting hydraulic cylinder; 34. lifting base 3. The first gear of the transmission gear is the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the transmission gear of the DETAILED DESCRIPTION

[0071] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0072] like Figures 1-11 As shown in the figure, the high-precision motion control system of the stacker crane based on the fuzzy immune algorithm includes a multi-axis motion control module, a dual closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module and an environment and maintenance management module.

[0073] The working principle of the present invention is as follows: the multi-axis motion control module coordinates the synchronous movement of the stacker's horizontal movement, vertical lifting, and fork extension and retraction to achieve three-axis linkage control; the dual closed-loop feedback module adopts position loop + speed loop closed-loop control, combined with encoder and grating scale data, to correct motion deviations in real time; the parameter self-learning module is based on the fuzzy immune algorithm, dynamically learns parameters such as load changes and mechanical wear, and optimizes PID control parameters; the safety protection and diagnosis module monitors abnormalities such as vibration, temperature, and current, triggers emergency stop or speed reduction, and records fault codes to assist maintenance; the positioning detection module integrates multi-sensor data such as absolute grating scale and laser ranging to achieve ±0.1mm positioning accuracy; the path planning module dynamically plans the optimal path (such as shortest time, lowest energy consumption) according to the warehousing task to avoid deadlock and collision; the environment and maintenance management module monitors temperature, humidity, and dust concentration, predicts the life of key components (such as chains and brake pads), and generates maintenance plans.

[0074] The multi-axis motion control module integrates a fuzzy immune algorithm processing unit and connects to the servo drive via the EtherCAT bus. It supports: horizontal speed control range of 0-180m / min, acceleration ≤0.3m / s²; vertical speed control range of 0-45m / min, with smooth S-curve acceleration and deceleration transitions; multi-target point path planning function, and online interpolation operation support.

[0075] The dual closed-loop feedback module includes: horizontal positioning uses an absolute grating ruler with a resolution of ≤0.01mm and an allowable axial float of ±1mm; vertical positioning uses a magnetostrictive sensor with a repeatability accuracy of ≤±0.5mm; the speed loop uses a 24-bit high-precision encoder with a speed detection error of ≤±0.1%.

[0076] The parameter self-learning module is equipped with an FPGA-accelerated machine learning processor to store a database of historical operating data. Data acquisition: stores historical operating data (including speed, load, temperature, and control parameters), with a sampling interval of ≤10ms. LSTM network structure: input layer (8-dimensional features) → three hidden layers (128 nodes per layer) → output layer (3-dimensional PID parameters). Online learning: uses an incremental learning algorithm, with a model update cycle of ≤1 hour.

[0077] The safety protection and diagnostic module monitors the current and temperature parameters of the travel motor in real time, and initiates a dynamic load reduction program when the power exceeds 22 kW. Safety monitoring and diagnosis, fault tree analysis (FTA): 20 preset fault modes (such as overcurrent, overtemperature, and excessive vibration) trigger hierarchical protection: Level 1 alarm: Reduce operating speed; Level 2 alarm: Emergency stop and lock the mechanism; Self-diagnosis function: Automatically perform servo motor winding insulation testing (withstand voltage ≥ 500V) at daily startup; Real-time monitoring of EtherCAT network communication packet loss rate (threshold ≤ 0.1%).

[0078] The safety protection module also includes a vibration suppression unit and a rope break protection unit. The vibration suppression unit detects abnormal vibrations through a three-axis acceleration sensor and automatically adjusts the control parameters; the rope break protection unit triggers emergency braking when the wire rope tension drops by more than 20% of the rated value.

[0079] The horizontal positioning of the positioning detection module uses an absolute grating ruler (resolution 0.5μm, maximum measuring speed 180m / min) laid along the entire length of the ground guide rail, and the reading head is installed at the bottom of the walking mechanism. For vertical positioning, the magnetostrictive sensor (repeat accuracy ±0.2mm, response time ≤1ms) is embedded in the column, and the detection rod is rigidly connected to the cargo platform mechanism.

[0080] The path planning module includes a dynamic path planning optimization algorithm unit, a vibration suppression unit and a digital twin unit. The dynamic path planning optimization algorithm unit avoids obstacles while selecting the shortest and smoothest path, reducing unnecessary starts, stops and turns; the vibration suppression unit eliminates sensor noise through software filtering (such as Kalman filtering), or adds S-shaped acceleration and deceleration curve planning during the acceleration phase to suppress mechanical vibration; the digital twin unit establishes a digital twin model of the stacker, simulates the operating status and predicts potential errors, and optimizes parameters in advance.

[0081] The environment and maintenance management module includes an environmental detection control unit, a preventive maintenance unit, and an operation specification training unit. The environmental detection control unit monitors temperature and humidity in real time to maintain a constant temperature and humidity in the warehouse, avoiding material deformation caused by temperature fluctuations; regularly cleans dust and debris on guide rails and transmission components; the preventive maintenance unit reminds regular inspection and lubrication of key components such as guide rails, gears, and bearings; uses a vibration analyzer to monitor abnormal vibration of the motor and transmission system; predicts component life through historical data, and replaces wearing parts (such as belts and bearings) in advance; the operation specification training unit plays standard operation videos to avoid overloading or unbalanced loading, ensure the stability of the center of gravity of the goods, and reduce the impact on the forks and columns.

[0082] The control system supports CANopen and Profinet dual-protocol communication interfaces; it has an online parameter setting function and provides an expert debugging mode; it also has visual monitoring of the operating status, with real-time display of positioning error curves and energy consumption data.

[0083] Based on a fuzzy immune algorithm, this system achieves high precision (±0.1mm), strong adaptability, and high reliability in stacker crane motion control. Through multi-axis coordinated control, dual closed-loop feedback, and parameter self-learning, the system dynamically optimizes PID parameters, suppresses interference such as sudden load changes and mechanical wear, significantly reduces overshoot (by 50%), and improves response speed (by 30%). Furthermore, safety protection and path planning modules ensure safe operation, and the environmental management module supports predictive maintenance, significantly reducing failure rates. It is suitable for demanding scenarios such as high-density warehousing and cold chain logistics.

[0084] It also includes a stacker, which includes a ground rail 1 and an absolute grating scale 10 placed on the warehouse floor and arranged parallel to each other, and a ceiling rail 7 placed on the top of the warehouse. A mobile frame mechanism 2 is provided between the ground rail 1 and the ceiling rail 7, and an electric control box 8 with a screen and a ladder 9 are provided on the left side of the mobile frame mechanism 2. A cargo platform mechanism 3 is provided on the transmission of the mobile frame mechanism 2, and an angle lifting fine-tuning mechanism 4 is provided on the upper end of the cargo platform mechanism 3. A transverse fine-tuning mechanism 5 is provided on the upper end of the angle lifting fine-tuning mechanism 4, and a telescopic fork plate mechanism 6 is provided on the upper end of the transverse fine-tuning mechanism 5. A flat cable guide 11 is provided between the cargo platform mechanism 3 and the lower part of the mobile frame mechanism 2.

[0085] The electric control box with screen 8 integrates PLC controller and human-machine interface to control equipment movement, parameter setting and status monitoring. The ladder 9 provides a safe passage for maintenance personnel to facilitate maintenance on the top of the equipment.

[0086] The ground rail 1 and the ceiling rail 7 are set parallel to the floor and top of the warehouse, forming the horizontal movement track of the stacker crane to ensure stable operation of the equipment. The mobile frame mechanism 2 is between the ground rail 1 and the ceiling rail 7. It moves horizontally along the track through the drive motor, carrying the cargo platform mechanism 3 to achieve horizontal positioning between shelves. The absolute grating ruler 10 high-precision position feedback device monitors the horizontal displacement of the mobile frame in real time. The cargo platform mechanism 3 rises and falls vertically along the mobile frame mechanism 2 to achieve lifting and positioning between shelves and perform coarse positioning;

[0087] The angle lifting fine-tuning mechanism 4 adjusts the rotation angle and height of the telescopic fork plate mechanism 6, and the transverse fine-tuning mechanism 5 fine-tunes the position of the telescopic fork plate mechanism 6 in the horizontal direction to ensure that the telescopic fork plate mechanism 6 is accurately aligned with the cargo position;

[0088] Telescopic fork plate mechanism 6 Bidirectional telescopic fork, directly grab or place pallet cargo.

[0089] The flat cable guide 11 manages the power supply and signal cables when the cargo platform mechanism 3 is raised or lowered, preventing entanglement and wear, and ensuring electrical safety.

[0090] The stacker also includes two ground travel switch bumpers 18 placed on the warehouse floor. The two ground travel switch bumpers 18 are located on both sides of the ground rail 1 , and the two ground travel switch bumpers 18 are located at the left and right ends of the ground rail 1 respectively.

[0091] When the mobile frame mechanism 2 moves horizontally along the ground rail 1 and approaches the rail limit position (left end or right end), the limit switch installed at its bottom will contact the ground limit switch block 18, and the signal triggers the sending of an electrical signal to the electric control box with screen 8. After receiving the signal, the electric control box with screen 8 immediately cuts off the driving power of the mobile frame mechanism 2 and starts the braking device to force the mobile frame to stop moving. At the same time, the human-machine interface of the electric control box with screen 8 displays "overtravel alarm" to prompt the operator to handle it.

[0092] The mobile frame mechanism 2 includes a lifting chain 1 56 and a lifting chain 2 57 and a mobile lower crossbeam 14 arranged above the ground rail 1. The two ends of the side of the mobile lower crossbeam 14 are provided with ground travel switches. The upper end of the mobile lower crossbeam 14 is provided with a left column 13 and a right column 15 symmetrically arranged on the left and right positions. A lifting motor 62 is fixed on the right column 15. Two active double-row sprockets 63 are provided for rotating on the right side of the mobile lower crossbeam 14. The output shaft of the lifting motor 62 is connected to the rotating shaft of the two active double-row sprockets 63. A counterweight group 17 is provided inside the left column 13. The upper and lower counterweight groups 17 are fixed on the left and right A plurality of guide wheels 55 are fixed at both ends, and the guide wheels 55 roll against the inside of the left column 13. The upper ends of the left column 13 and the right column 15 are fixed with a driven upper crossbeam 12, which rolls against the ceiling rail 7. The driven upper crossbeam 12 is provided with a ceiling rail brake. The left and right sides of the interior of the driven upper crossbeam 12 are both rotatably provided with a sprocket shaft 1 58 of equal height. Two transmission double-row sprockets 1 61 are fixed on the sprocket shaft 1 58. Two sprocket shafts 2 59 are rotatably provided on the right side of the interior of the driven upper crossbeam 12. Two transmission double-row sprockets 2 60 are fixed on the two sprocket shafts 2 59 on the right side. A sprocket shaft 2 59 is provided for rotation on the left side of the upper moving crossbeam 12. A transmission double-row sprocket 2 60 is fixed on the sprocket shaft 2 59 on the left side. The height of the sprocket shaft 2 59 is equal to and lower than the height of the sprocket shaft 1 58. One end of the lifting chain 1 56 is connected to the upper end of the counterweight block group 17, and the other end of the lifting chain 1 56 is connected to the upper left end of the cargo platform mechanism 3. The lifting chain 1 56 is connected in sequence to the transmission double-row sprocket 1 61 on the front side of the left sprocket shaft 1 58, the transmission double-row sprocket 1 61 on the front side of the right sprocket shaft 1 58, the front active double-row sprocket 63, and the two sprocket shafts 2 on the right side. The transmission double-row sprocket 2 60 on the front side of 59 and the transmission double-row sprocket 2 60 on the sprocket shaft 2 59 on the left side, one end of the lifting chain 2 57 is connected to the upper end of the counterweight block group 17, and the other end of the lifting chain 2 57 is connected to the upper right end of the cargo platform mechanism 3, and the lifting chain 2 57 is connected in sequence to the transmission double-row sprocket 1 61 on the rear side of the left sprocket shaft 1 58, the transmission double-row sprocket 1 61 on the rear side of the right sprocket shaft 1 58, the rear active double-row sprocket 63, and the transmission double-row sprocket 2 60 on the rear side of the two sprocket shafts 2 59 on the right side, and a number of shift fork orthogonals 16 are provided on the side of the movable lower beam 14.

[0093] The movable lower crossbeam 14 is driven and moved above the ground rail 1, and a plurality of shift fork orthogonals 16 absorb the vibration or deviation of the movable lower crossbeam 14 during operation to ensure the stable operation of the movable lower crossbeam 14. The movable lower crossbeam 14, the left column 13, the right column 15 and the driven upper crossbeam 12 cooperate with each other, and the driven upper crossbeam 12 moves by rolling on the overhead rail 7. The driven upper crossbeam 12 brakes on the overhead rail 7 through the overhead rail brake piece to suppress the swing of the movable frame mechanism 2; the lifting motor 62 is started, and the output shaft of the lifting motor 62 drives the rotating shaft of the two active double-row sprockets 63 to rotate, thereby driving the two active double-row sprockets 63 to rotate synchronously; the lifting chain 56: starting from the upper end of the counterweight block group 17 → bypassing the front sprocket of the left column sprocket shaft 58 → the front sprocket of the right column sprocket shaft 58 → the front active double-row sprocket 63 → the right The two sprocket shafts 2 59 front sprockets → the left sprocket shaft 2 59 sprocket → finally connected to the left side of the cargo platform mechanism 3; lifting chain 2 57: starting from the upper end of the counterweight block group 17 → bypassing the left column sprocket shaft 1 58 rear sprocket → the right column sprocket shaft 1 58 rear sprocket → the rear active double-row sprocket 63 → the two right sprocket shafts 2 59 rear sprockets → finally connected to the right side of the cargo platform mechanism 3; the cargo platform mechanism 3 rises: the active double-row sprocket drives the forward traction lifting chain 1 56 and lifting chain 2 57, the cargo platform mechanism 3 rises, and the counterweight block group 17 synchronously descends along the left column 13 through the guide wheel 55 to offset the load weight; the cargo platform mechanism 3 descends: the lifting motor 62 reverses, drives the reverse traction lifting chain 1 56 and lifting chain 2 57, the counterweight block group 17 rises to provide reverse pulling force to ensure smooth lifting.

[0094] The cargo platform mechanism 3 includes a base 19, and the upper end of the base 19 is provided with a left-right symmetrical side beam frame 22. The left and right sides of the front and rear end surfaces of the base 19 are fixed with mounting frames 20. The upper ends of the mounting frames 20 are fixed with wire mounting tubes 21. One of the side beam frames 22 is provided with an electric box 23. The upper end and outer side of the side beam frame 22 are provided with a clamping wheel group 24. The left and right clamping wheel groups 24 roll against the left column 13 and the right column 15 respectively. A vertically placed brake electric push rod 64 is provided on the side beam frame 22 for sliding. The brake electric push rod 64 is connected to the side beam frame 22. A return spring 30 is provided between the side beam frame 22, and a fixed shaft 25 and two brake frames 29 that are symmetrically arranged in the front and rear and tilted are fixed inside the side beam frame 22. Brake blocks 28 are slidably provided inside the brake frames 29, and a swing frame 27 is rotatably provided on the fixed shaft 25. The telescopic end of the brake electric push rod 64 is hinged to one end of the swing frame 27, and the other end of the swing frame 27 is hinged to a toggle rod 26, which is hinged to the brake block 28. The other end of the lifting chain 1 56 and the other end of the lifting chain 2 57 are respectively connected to the upper ends of the left and right brake electric push rods 64.

[0095] The lifting motor 62 drives the active double-row sprocket 63 to rotate, and the lifting chain 1 56 and the lifting chain 2 57 pull the cargo platform mechanism 3 to move vertically along the column; the clamping wheel group 24 rolls against the left column 13 and the right column 15 to ensure that the movement trajectory of the cargo platform mechanism 3 is accurate and prevents deflection; when the cargo platform mechanism 3 needs to stop to reach the target layer or emergency stop, the electric box 23 sends a signal to the brake electric push rod 64, and the brake electric push rod 64 extends to overcome the tension of the reset spring 30, and pushes the swing frame 27 to rotate around the fixed axis 25, and the swing frame 27 drives the toggle rod 26 to tilt the brake block 28 along the brake frame 29, pressing the left column 13 and the right column 15, and braking the cargo platform mechanism 3 by friction; the brake is released and reset, the brake electric push rod 64 retracts, and the reset spring 30 pulls the brake block 28 to move in the opposite direction along the brake frame 29, disengaging from the left column 13 and the right column 15, and the cargo platform mechanism 3 resumes free movement; integrated wiring management: wire installation tube 21, centralized management of the cables of the electrical box 23 and the push rod to avoid cable entanglement or wear during lifting.

[0096] The angle lifting fine-tuning mechanism 4 includes a fixed base 31, which is fixed to the upper end of the base 19, and a number of lifting hydraulic cylinders 33 are fixed to the upper end of the fixed base 31. A lifting base plate 34 is fixed to the telescopic end of the lifting hydraulic cylinder 33, and a sliding rod 32 is fixed to the four corners of the lower end of the lifting base plate 34. The sliding rod 32 is slidably set on the fixed base 31, and a number of rotation sensors 35 are fixed to the upper end of the lifting base plate 34. A rotating top plate 36 is rotatably provided at the upper end of the lifting base plate 34, and a driven shaft gear 37 is fixed on the rotating shaft of the rotating top plate 36. A rotating motor 39 is fixed to the lower end of the lifting base plate 34, and the output shaft of the rotating motor 39 passes through the lifting base plate 34 and a driving gear 38 is fixed on the output shaft of the rotating motor 39, and the driving gear 38 is meshed with the driven shaft gear 37.

[0097] Vertical height adjustment: Several lifting hydraulic cylinders 33 push the lifting base plate 34, and the slide rod 32 slides vertically on the fixed base 31. The slide rod 32 guides to ensure the linearity of the movement; after reaching the target height, the lifting hydraulic cylinder 33 maintains the pressure to fix the position, and the slide rod 32 cooperates with the fixed base 31 to eliminate vibration deviation; horizontal angle fine-tuning: The rotating motor 39 drives the driving gear 38 to rotate, and drives the driven shaft teeth 37 through gear meshing to make the rotating top plate 36 rotate around the axis; the rotation sensor 35 monitors the rotation angle in real time, and the data is fed back to the control system to dynamically correct the motor speed to ensure angle accuracy.

[0098] The transverse fine-tuning mechanism 5 includes a transverse base plate 40, which is fixed to the upper end of the rotating top plate 36. The upper end of the transverse base plate 40 is provided with a transverse electric screw 41 and two slide rails 42. The two slide rails 42 are located on both sides of the transverse electric screw 41. A transverse top plate 43 is slidably provided on the two slide rails 42, and the transverse top plate 43 is transmission-connected to the transverse electric screw 41.

[0099] Horizontal position adjustment: The lateral electric screw 41 receives a control signal to rotate, pushing the lateral top plate 43 to move horizontally left and right along the slide rails 42; the slide rails 42 on both sides constrain the motion trajectory to prevent offset or jamming and ensure linearity (deviation <±0.1mm); the servo motor of the lateral electric screw 41 has a built-in encoder to monitor the screw angle in real time, convert it into displacement, and dynamically correct the position error.

[0100] The telescopic fork plate mechanism 6 includes a telescopic base plate 48, which is fixed to the upper end of the transverse top plate 43, and fixed guide rails 44 are fixed on the left and right sides of the upper end of the telescopic base plate 48. A telescopic positioning motor 47 is fixed to the middle of the upper end of the telescopic base plate 48, and a dual-output shaft transmission seat 46 is fixed to the middle of the lower end of the telescopic base plate 48. The output shaft of the telescopic positioning motor 47 is transmission-connected to the input shaft of the dual-output shaft transmission seat 46, and the left and right sides of the lower end of the telescopic base plate 48 are rotatably provided with a positioning active shaft 45, and the positioning active shaft 45 is transmission-connected to the output shaft on the same side of the dual-output shaft transmission seat 46. A positioning active sprocket is fixed on the positioning active shaft 45, and a first limit sensor 49 is fixed to the four corners of the upper end of the telescopic base plate 48. The four corners of the upper end of the telescopic base plate 48 are rotatably provided with two first telescopic sprockets 54 staggered up and down. The shortening sprocket 54 and the first limit sensor 49 are both located on the inner side of the fixed guide rail 44 on the same side. A movable guide rail 51 is slidably provided at the upper end of the fixed guide rail 44. A second limit sensor 50 is fixed on both the front and rear sides of the upper end of the movable guide rail 51. A second telescopic sprocket 53 is rotatably provided on both the front and rear sides of the upper end of the movable guide rail 51. A fork plate 52 is slidably provided on the upper end of the movable guide rail 51. A telescopic chain 1 is transmitted between the positioning active sprocket on the same side and the two lower first telescopic sprockets 54. One of the links of the telescopic chain 1 is fixedly connected to the movable guide rail 51. A telescopic chain 2 is transmitted between the two upper first telescopic sprockets 54 on the same side and the two second telescopic sprockets 53. One of the links of the telescopic chain 2 is fixedly connected to one of the links of the telescopic chain 1, and the fork plate 52 is fixedly connected to one of the links of the telescopic chain 2.

[0101] The telescopic adjustment motor 47 is started, and the adjustment driving shafts 45 on both sides are synchronously driven to rotate through the dual output shaft transmission seat 46; the adjustment driving sprocket rotates with the shaft, pulling the telescopic chain 1 to move; first-level telescopic (movable guide rail 51 extends): telescopic chain 1 transmission: the fixed chain link of telescopic chain 1 pushes the movable guide rail 51 to slide outward along the fixed guide rail 44; guide constraint: the linear bearing of the fixed guide rail 44 ensures that the movable guide rail 51 moves smoothly (friction coefficient <0.005); second-level telescopic (fork plate 52 extends): telescopic chain 2 linkage: when the telescopic chain 1 moves, the telescopic chain 1 drives the telescopic chain 51 through the fixed chain node. Chain 2 moves synchronously, and the fixed link of telescopic chain 2 pushes the fork plate 52 to extend twice along the movable guide rail 51; proportional control: the sprocket diameter ratio is designed to make the fork plate 52 extend twice as fast as the movable guide rail 51, so as to quickly cover the shelf depth; limit and braking: sensor triggering: when the fork plate 52 reaches the maximum extension position, the second limit sensor 50 detects the signal, the motor stops and electromagnetic braking is performed; retraction process: the telescopic adjustment motor 47 reverses, the telescopic chain 1 and the telescopic chain 2 are pulled in opposite directions, the movable guide rail 51 and the fork plate 52 are retracted step by step, and the first limit sensor 49 confirms that it is fully reset.

[0102] Working principle of the present invention: the electric control box 8 with screen integrates PLC controller and human-machine interface to control equipment movement, parameter setting and status monitoring, and the ladder 9 provides a safe passage for maintenance personnel to facilitate maintenance on the top of the equipment;

[0103] The ground rail 1 and the ceiling rail 7 are arranged parallel to the warehouse floor and ceiling, forming the horizontal movement track of the stacker crane, ensuring stable operation of the equipment. The movable lower beam 14 moves horizontally on the ground rail 1. A number of shift fork orthogonal devices 16 absorb vibration or deviation of the movable lower beam 14 during operation, ensuring stable operation of the movable lower beam 14. The driven upper beam 12 moves by rolling on the ceiling rail 7. The driven upper beam 12 is braked on the ceiling rail 7 by the ceiling rail brake parts, suppressing the swing of the movable frame mechanism 2. The load-bearing platform mechanism 3 realizes horizontal positioning between shelves.

[0104] The absolute grating ruler 10 high-precision position feedback device monitors the horizontal displacement of the mobile frame in real time. The cargo platform mechanism 3 rises: the active double-row sprocket 63 drives the positive traction lifting chain 1 56 and the lifting chain 2 57, the cargo platform mechanism 3 rises, and the counterweight block group 17 synchronously descends along the left column 13 via the guide wheel 55 to offset the load weight;

[0105] The cargo platform mechanism 3 descends: the lifting motor 62 reverses, driving the reverse traction lifting chain 1 56 and lifting chain 2 57, and the counterweight block group 17 rises to provide reverse pulling force to ensure smooth lifting and realize lifting and positioning between shelves for rough positioning;

[0106] The clamping wheel set 24 rolls against the left column 13 and the right column 15 to ensure that the movement trajectory of the cargo platform mechanism 3 is accurate and prevents deflection;

[0107] Vertical height adjustment: Several lifting hydraulic cylinders 33 push the lifting base plate 34, and the slide rod 32 slides vertically on the fixed base 31. The slide rod 32 guides to ensure linear movement. After reaching the target height, the lifting hydraulic cylinder 33 maintains pressure in the fixed position, and the slide rod 32 cooperates with the fixed base 31 to eliminate vibration and deviation.

[0108] Fine-tuning the horizontal angle: The rotating motor 39 drives the driving gear 38 to rotate, which in turn drives the driven shaft gear 37 through gear meshing, causing the rotating top plate 36 to rotate around the axis; the rotation sensor 35 monitors the rotation angle in real time, and the data is fed back to the control system, which dynamically corrects the motor speed to ensure angle accuracy and ensure that the telescopic fork plate mechanism 6 is accurately aligned with the cargo position;

[0109] Horizontal position adjustment: The electric traverse screw 41 receives a control signal to rotate, pushing the traverse top plate 43 to move horizontally left and right along the slide rails 42. The slide rails 42 on both sides constrain the motion trajectory to prevent deviation or jamming, ensuring linearity (deviation <±0.1mm). The servo motor of the electric traverse screw 41 has a built-in encoder that monitors the screw's rotation angle in real time, converts it into displacement, and dynamically corrects position errors for precise positioning.

[0110] The telescopic fork plate mechanism 6 has a bidirectional telescopic fork, which can directly grab or place pallet cargo: the telescopic adjustment motor 47 is started, and the dual output shaft transmission seat 46 synchronously drives the adjustment drive shafts 45 on both sides to rotate; the adjustment drive sprocket rotates with the shaft, pulling the telescopic chain to move;

[0111] First-stage telescopic movement (movable guide rail 51 extends): Telescopic chain 1 transmission: The fixed link of telescopic chain 1 pushes the movable guide rail 51 to slide outward along the fixed guide rail 44; Guide constraint: The linear bearing of the fixed guide rail 44 ensures the smooth movement of the movable guide rail (friction coefficient < 0.005);

[0112] Secondary telescopic (fork plate 52 extends): Telescopic chain 2 is linked: when telescopic chain 1 moves, it drives telescopic chain 2 to move synchronously through the fixed chain node, and the fixed chain link of telescopic chain 2 pushes the fork plate 52 to extend twice along the movable guide rail 51;

[0113] Proportional control: The sprocket diameter ratio design makes the fork plate 52 extend twice as fast as the movable guide rail 51, achieving rapid coverage of the shelf depth;

[0114] Limit and braking: Sensor triggering: When the fork plate 52 reaches the maximum extension position, the second limit sensor 50 detects the signal, the motor stops and electromagnetic braking is performed; retraction process: the telescopic adjustment motor 47 reverses, the telescopic chain 1 and the telescopic chain 2 are pulled in the opposite direction, the movable guide rail 51 and the fork plate 52 are retracted step by step, and the first limit sensor 49 confirms that it is completely reset.

[0115] The flat cable guide 11 manages the power supply and signal cables when the cargo platform mechanism 3 is raised or lowered, preventing entanglement and wear, and ensuring electrical safety.

[0116] This stacker crane utilizes a modular design, integrating high-precision transmission (three-stage telescopic fork), redundant safety mechanisms (dual chains + hard limiters), and an intelligent control system. It combines high efficiency (storage and retrieval cycles ≤ 60 seconds) with stability (MTBF > 10,000 hours). Its unique angle / lateral fine-tuning mechanism automatically compensates for shelf errors and accommodates a wide range of pallet sizes. Its low noise level (<65dB) and energy-saving design (balanced counterweight reduces energy consumption by 30%) make it an ideal choice for modern high-bay warehouses.

[0117] like Figure 12 As shown in FIG, the high-precision motion control method of the stacker crane based on the fuzzy immune algorithm includes the following steps:

[0118] Step 1: Construct a three-level control architecture and establish a PID control model that integrates fuzzy control rules and immune feedback mechanism. The three-level control architecture includes a proportional factor dynamic adjustment layer, a fuzzy integral differential parameter layer, and an immune feedback correction layer. The proportional factor dynamic adjustment layer adjusts the proportional coefficient Kp in real time based on the load change rate and environmental disturbances. The fuzzy integral differential parameter layer dynamically optimizes the integral coefficient Ki and the differential coefficient Kd through a fuzzy logic controller. The immune feedback correction layer uses the immune feedback mechanism to perform nonlinear compensation for Kp.

[0119] Step 2: Adjust the integral and differential coefficients: The stacker crane displacement deviation E and deviation change rate EC are collected in real time through a fuzzy logic controller. The input variables are fuzzified using a triangular membership function. The integral coefficient adjustment factor ΔKi and the differential coefficient adjustment factor ΔKd are generated based on a preset fuzzy rule base. The domain of the fuzzy rule base's input variables E and EC is divided into seven fuzzy subsets, and the adjustment range of the output variables ΔKi and ΔKd is [0.5, 1.5].

[0120] Step 3: Establish a feedback calculation model: Introduce the immune feedback mechanism to perform nonlinear optimization on the proportional coefficient Kp, establish a feedback calculation model based on antibody concentration adjustment, and calculate the immune feedback factor α in real time according to the system response state;

[0121] Step 4: Build machine learning parameters: Use the parameter self-learning module to learn historical operation data, use the LSTM network to build a dynamic mapping model of control parameters, and output the initial optimized values ​​of PID parameters;

[0122] Step 5. Optimize the parameter input system: Input the optimized PID parameters into the servo drive system to control the stacker crane actuator to operate under the technical indicators of horizontal positioning accuracy ≤±5mm, vertical positioning accuracy ≤±5mm, horizontal speed 180m / min and vertical speed 45m / min.

[0123] The calculation formula of immune feedback factor α in step 3 is: , where K is the immune gain coefficient, η is the suppression coefficient, β is the adjustment factor, and e(t) is the real-time tracking error;

[0124] The regulating factor β of the immune feedback factor α is adaptively adjusted according to the dynamic response state of the system. The adjustment formula is: , where β0 is the initial value and γ is the adaptive gain coefficient.

[0125] In step 4, the LSTM network contains three hidden layers. The input features of the LSTM network include speed deviation, load change rate, and ambient temperature parameters. The output layer of the LSTM network uses the Sigmoid activation function to normalize the PID parameters. The normalization range is: .

[0126] The proportional factor dynamic adjustment layer in the three-level control architecture automatically corrects the basic proportional coefficient according to the load change rate; the fuzzy integral differential parameter layer uses the Mamdani reasoning method for fuzzy decision-making; and the immune feedback correction layer realizes adaptive adjustment of the control gain through nonlinear functions.

[0127] This innovative approach combines fuzzy logic with an immune algorithm to empower stacker cranes with intelligent decision-making capabilities. A fuzzy rule base quantifies motion errors (such as position deviation and vibration), while the immune algorithm dynamically generates "antibody" parameters (such as KP and KI) to achieve precise, anti-interference control. Compared to traditional PID control, its self-learning capability adapts to different operating conditions (light load, heavy load, and uneven load), eliminating the need for manual parameter adjustment. Furthermore, it optimizes efficiency by memorizing historical data, making it particularly suitable for long-term automated warehousing systems.

[0128] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

Claims

1. A high-precision motion control system for a stacker crane based on fuzzy immune algorithm, characterized in that: It includes a multi-axis motion control module, a dual closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, and an environment and maintenance management module. The multi-axis motion control module integrates a fuzzy immune algorithm processing unit and is connected to the servo drive via the EtherCAT bus. The multi-axis motion control module supports: horizontal speed control range of 0-180m / min, acceleration ≤0.3m / s²; The vertical speed control range is 0-45m / min, with smooth acceleration and deceleration S-curve transition; The multi-target point path planning function supports online interpolation operations. The dual closed-loop feedback module includes: horizontal positioning uses an absolute grating ruler with a resolution of ≤0.01mm and an axial floating allowance of ±1mm; vertical positioning uses a magnetostrictive sensor with a repeatability accuracy of ≤±0.5mm; the speed loop uses a 24-bit high-precision encoder with a speed detection error of ≤±0.1%; The control method of the stacker crane high-precision motion control system based on the fuzzy immune algorithm includes the following steps: Step 1, constructing a three-level control architecture, establishing a PID control model that integrates fuzzy control rules and immune feedback mechanism, and constructing a three-level control architecture including a proportional factor dynamic adjustment layer, a fuzzy integral differential parameter layer, and an immune feedback correction layer; The proportional factor dynamic adjustment layer adjusts the proportional coefficient Kp in real time based on the load change rate and environmental disturbance; The fuzzy integral differential parameter layer dynamically optimizes the integral coefficient Ki and the differential coefficient Kd through a fuzzy logic controller; The immune feedback correction layer uses an immune feedback mechanism to perform nonlinear compensation on Kp; Step 2: Adjust the integral and differential coefficients: The stacker crane displacement deviation E and deviation change rate EC are collected in real time through a fuzzy logic controller. The input variables are fuzzified using a triangular membership function. The integral coefficient adjustment factor ΔKi and the differential coefficient adjustment factor ΔKd are generated based on a preset fuzzy rule base. The domain of the fuzzy rule base's input variables E and EC is divided into seven fuzzy subsets, and the adjustment range of the output variables ΔKi and ΔKd is [0.5, 1.5]. Step 3: Establish a feedback calculation model: Introduce the immune feedback mechanism to perform nonlinear optimization on the proportional coefficient Kp, establish a feedback calculation model based on antibody concentration adjustment, and calculate the immune feedback factor α in real time according to the system response state; Step 4: Build machine learning parameters: Use the parameter self-learning module to learn historical operation data, use the LSTM network to build a dynamic mapping model of control parameters, and output the initial optimized values ​​of PID parameters; Step 5. Optimize the parameter input system: Input the optimized PID parameters into the servo drive system to control the stacker crane actuator to operate under the technical indicators of horizontal positioning accuracy ≤±5mm, vertical positioning accuracy ≤±5mm, horizontal speed 180m / min and vertical speed 45m / min.

2. A high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 1, characterized in that: The parameter self-learning module is equipped with an FPGA-accelerated machine learning processor to store a database of historical operating data; data acquisition: stores historical operating data with a sampling interval of ≤10ms; LSTM network structure: input layer → three hidden layers → output layer; Online learning: Using incremental learning algorithm, the model update cycle is ≤ 1 hour; The safety protection and diagnosis module monitors the current and temperature parameters of the travel motor in real time and starts the dynamic load reduction program when the power exceeds 22KW; Safety monitoring and diagnosis, fault tree analysis: 20 types of fault modes are preset to trigger hierarchical protection: Level 1 alarm: reduce the operating speed; Level 2 alarm: Emergency shutdown and locking mechanism; Self-diagnosis function: Automatically performs servo motor winding insulation testing at daily startup; Real-time monitoring of EtherCAT network communication packet loss rate; The safety protection module also includes a vibration suppression unit and a rope break protection unit. The vibration suppression unit detects abnormal vibration through a three-axis acceleration sensor and automatically adjusts the control parameters; The rope break protection unit triggers emergency braking when the wire rope tension drops by more than 20% of the rated value.

3. The high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 1 is characterized in that: The horizontal positioning of the positioning detection module adopts an absolute grating ruler laid along the entire length of the ground guide rail, and the reading head is installed at the bottom of the walking mechanism; for vertical positioning, the magnetostrictive sensor is embedded in the column, and the detection rod is rigidly connected to the cargo platform mechanism; The path planning module includes a dynamic path planning optimization algorithm unit, a vibration suppression unit and a digital twin unit. The dynamic path planning optimization algorithm unit avoids obstacles while selecting the shortest and smoothest path, reducing unnecessary starts, stops and turns; the vibration suppression unit eliminates sensor noise through software filtering, or adds S-shaped acceleration and deceleration curve planning during the acceleration stage to suppress mechanical vibration; the digital twin unit establishes a digital twin model of the stacker, simulates the operating status and predicts potential errors, and optimizes parameters in advance.

4. The high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 1 is characterized in that: The environment and maintenance management module includes an environment detection control unit, a preventive maintenance unit, and an operation specification training unit. The environment detection control unit monitors temperature and humidity in real time to maintain constant temperature and humidity in the warehouse to prevent material deformation caused by temperature fluctuations; regularly cleans dust and debris on guide rails and transmission components; the preventive maintenance unit reminds regular inspection and lubrication of key components such as guide rails, gears, and bearings; uses a vibration analyzer to monitor abnormal vibration of motors and transmission systems; predicts component life based on historical data and replaces wearing parts in advance; and the operation specification training unit plays standard operation videos to avoid overloading or uneven loading, ensure the stability of the center of gravity of the cargo, and reduce impact on the forks and columns. The control system supports CANopen and Profinet dual-protocol communication interfaces. Online parameter tuning function provides expert debugging mode; the operation status visual monitoring interface displays the positioning error curve and energy consumption data in real time.

5. The high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 1 is characterized in that: The invention also includes a stacker, wherein the stacker includes a ground rail (1) and an absolute grating ruler (10) arranged in parallel on the warehouse floor and a ceiling rail (7) arranged on the top of the warehouse, a movable frame mechanism (2) is provided between the ground rail (1) and the ceiling rail (7), an electric control box with a screen (8) and a ladder (9) are provided on the left side of the movable frame mechanism (2), a cargo platform mechanism (3) is provided on the upper transmission of the movable frame mechanism (2), an angle lifting fine-tuning mechanism (4) is provided on the upper end of the cargo platform mechanism (3), a transverse fine-tuning mechanism (5) is provided on the upper end of the angle lifting fine-tuning mechanism (4), a telescopic fork plate mechanism (6) is provided on the upper end of the transverse fine-tuning mechanism (5), and a flat cable guide (11) is provided between the cargo platform mechanism (3) and the lower part of the movable frame mechanism (2).

6. The high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 5, characterized in that: The stacker also includes two ground travel switch bumpers (18) placed on the warehouse floor, the two ground travel switch bumpers (18) being located on both sides of the ground rail (1), and the two ground travel switch bumpers (18) being located at the left and right ends of the ground rail (1) respectively; The movable frame mechanism (2) comprises a lifting chain 1 (56) and a lifting chain 2 (57) and a movable lower beam (14) which is arranged above the ground rail (1). Both ends of the side of the movable lower beam (14) are provided with ground travel switches. The upper end of the movable lower beam (14) is provided with a left column (13) and a right column (15) which are symmetrically arranged on the left and right sides. A lifting motor (62) is fixed on the right column (15). Two active double-row sprockets (63) are provided inside the movable lower beam (14) for rotation on the right side. The output shaft of the lifting motor (62) is connected to the rotating shaft of the two active double-row sprockets (63). A counterweight block group (17) is provided inside the left column (13). The counterweight block group (17) A plurality of guide wheels (55) are fixed at both ends of the upper and lower ends, and the guide wheels (55) roll against the inside of the left column (13). The upper ends of the left column (13) and the right column (15) are fixed with a driven upper beam (12). The driven upper beam (12) rolls against the sky rail (7). The driven upper beam (12) is provided with a sky rail brake. The left and right sides of the interior of the driven upper beam (12) are both rotatable with equal-height sprocket shafts (58). Two transmission double-row sprockets (61) are fixed on the sprocket shaft (58). Two sprocket shafts (59) are rotatable on the right side of the interior of the driven upper beam (12). Two transmission double-row sprockets (60) are fixed on the two sprocket shafts (59) on the right side. A sprocket shaft 2 (59) is provided for rotating on the left side of the driven upper crossbeam (12). A transmission double-row sprocket 2 (60) is fixed on the left sprocket shaft 2 (59). The height of the sprocket shaft 2 (59) is equal to and lower than the height of the sprocket shaft 1 (58). One end of the lifting chain 1 (56) is connected to the upper end of the counterweight block group (17). The other end of the lifting chain 1 (56) is connected to the upper left end of the cargo platform mechanism (3). The lifting chain 1 (56) is connected in sequence to the transmission double-row sprocket 1 (61) on the front side of the left sprocket shaft 1 (58), the transmission double-row sprocket 1 (61) on the front side of the right sprocket shaft 1 (58), the front active double-row sprocket (63), the two sprocket shafts 2 on the right ( 59) on the front side of the transmission double-row sprocket 2 (60) and the transmission double-row sprocket 2 (60) on the sprocket shaft 2 (59) on the left side, one end of the lifting chain 2 (57) is connected to the upper end of the counterweight block group (17), and the other end of the lifting chain 2 (57) is connected to the upper right end of the cargo platform mechanism (3), the lifting chain 2 (57) is sequentially connected to the transmission double-row sprocket 1 (61) on the rear side of the left sprocket shaft 1 (58), the transmission double-row sprocket 1 (61) on the rear side of the right sprocket shaft 1 (58), the rear active double-row sprocket (63), the transmission double-row sprocket 2 (60) on the rear side of the two sprocket shafts 2 (59) on the right side, and a plurality of shift fork orthogonals (16) are provided on the side of the movable lower crossbeam (14); The cargo platform mechanism (3) includes a base (19), the upper end of the base (19) is provided with a left-right symmetrical side beam frame (22), the left and right sides of the front and rear end surfaces of the base (19) are fixed with mounting frames (20), the upper ends of the mounting frames (20) are fixed with wire mounting tubes (21), one of the side beam frames (22) is provided with an electric box (23), the upper end and the outer side of the side beam frame (22) are provided with a clamping wheel group (24), the left and right clamping wheel groups (24) respectively roll against the left column (13) and the right column (15), and a vertically placed brake electric push rod (64) is provided on the side beam frame (22) for sliding. The brake electric push rod (64) is connected to the side beam frame (2 2) are provided with a return spring (30), a fixed shaft (25) and two brake frames (29) arranged symmetrically and tilted in the front and rear directions are fixed inside the side beam frame (22), brake blocks (28) are slidably provided inside the brake frames (29), a swing frame (27) is rotatably provided on the fixed shaft (25), a telescopic end of the brake electric push rod (64) is hinged to one end of the swing frame (27), and a toggle rod (26) is hinged to the other end of the swing frame (27), and the toggle rod (26) is hinged to the brake block (28), and the other end of the lifting chain 1 (56) and the other end of the lifting chain 2 (57) are respectively connected to the upper ends of the left and right brake electric push rods (64).

7. The high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 6 is characterized in that: The angle lifting fine-tuning mechanism (4) includes a fixed base (31), the fixed base (31) is fixed to the upper end of the base (19), a plurality of lifting hydraulic cylinders (33) are fixed to the upper end of the fixed base (31), a lifting base plate (34) is fixed to the telescopic end of the lifting hydraulic cylinder (33), four corners of the lower end of the lifting base plate (34) are fixed with slide bars (32), the slide bars (32) are slidably arranged on the fixed base (31), a plurality of rotation sensors (35) are fixed to the upper end of the lifting base plate (34), a rotating top plate (36) is rotatably provided at the upper end of the lifting base plate (34), a driven shaft gear (37) is fixed to the rotating shaft of the rotating top plate (36), a rotating motor (39) is fixed to the lower end of the lifting base plate (34), an output shaft of the rotating motor (39) passes through the lifting base plate (34), and a driving gear (38) is fixed to the output shaft of the rotating motor (39), and the driving gear (38) is meshed with the driven shaft gear (37); The transverse fine-tuning mechanism (5) includes a transverse base plate (40), the transverse base plate (40) is fixed to the upper end of the rotating top plate (36), the upper end of the transverse base plate (40) is provided with a transverse electric screw (41) and two slide rails (42), the two slide rails (42) are located on both sides of the transverse electric screw (41), a transverse top plate (43) is slidably provided on the two slide rails (42), and the transverse top plate (43) is transmission-connected to the transverse electric screw (41); The telescopic fork plate mechanism (6) includes a telescopic base plate (48), the telescopic base plate (48) is fixed to the upper end of the transverse top plate (43), fixed guide rails (44) are fixed on both the left and right sides of the upper end of the telescopic base plate (48), a telescopic positioning motor (47) is fixed to the middle of the upper end of the telescopic base plate (48), a dual output shaft transmission seat (46) is fixed to the middle of the lower end of the telescopic base plate (48), the output shaft of the telescopic positioning motor (47) is connected to the input shaft of the dual output shaft transmission seat (46), the lower end of the telescopic base plate (48) is rotatably provided with a positioning active shaft (45), the positioning active shaft (45) is connected to the output shaft on the same side of the dual output shaft transmission seat (46), a positioning active sprocket is fixed on the positioning active shaft (45), the upper four corners of the telescopic base plate (48) are fixed with a first limit sensor (49), and the upper four corners of the telescopic base plate (48) are rotatably provided with two first telescopic sprockets arranged in an upper and lower staggered manner. (54), the first telescopic sprocket (54) and the first limit sensor (49) are both located on the inner side of the fixed guide rail (44) on the same side, the upper end of the fixed guide rail (44) is slidably provided with a movable guide rail (51), and the second limit sensor (50) is fixed on both the front and rear sides of the upper end of the movable guide rail (51), and the second telescopic sprocket (53) is rotatably provided on both the front and rear sides of the upper end of the movable guide rail (51), and the upper end of the movable guide rail (51) is slidably provided with a fork plate (52), and a telescopic chain 1 is provided for transmission between the positioning active sprocket on the same side and the two lower first telescopic sprockets (54), and one section of the telescopic chain 1 is fixedly connected to the movable guide rail (51), and a telescopic chain 2 is provided for transmission between the two upper first telescopic sprockets (54) on the same side and the two second telescopic sprockets (53), and one section of the telescopic chain 2 is fixedly connected to one section of the telescopic chain 1, and the fork plate (52) is fixedly connected to one section of the telescopic chain 2.

8. The high-precision motion control system for stacker crane based on fuzzy immune algorithm according to claim 1 is characterized in that: The calculation formula of the immune feedback factor α in step 3 is: , where K is the immune gain coefficient, η is the suppression coefficient, β is the adjustment factor, and e(t) is the real-time tracking error; The regulating factor β of the immune feedback factor α is adaptively adjusted according to the dynamic response state of the system, and the adjustment formula is: , where β0 is the initial value and γ is the adaptive gain coefficient; In step 4, the LSTM network includes three hidden layers. The input features of the LSTM network include speed deviation, load change rate, and ambient temperature parameters. The output layer of the LSTM network uses a Sigmoid activation function to normalize the PID parameters. The normalization range is: ; The proportional factor dynamic adjustment layer in the three-level control architecture automatically corrects the basic proportional coefficient according to the load change rate; the fuzzy integral differential parameter layer uses the Mamdani reasoning method to make fuzzy decisions; and the immune feedback correction layer realizes adaptive adjustment of the control gain through a nonlinear function.

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