Four-way shuttle vehicle stereoscopic warehouse simulation system and method

Abstract

The invention discloses a four-way shuttle vehicle stereoscopic warehouse simulation system and method, and belongs to the technical field of four-way shuttle vehicle stereoscopic warehouse design, and the system comprises a virtual simulation model which is constructed according to four-way shuttle vehicle stereoscopic warehouse design data and is used for simulating a real four-way shuttle vehicle stereoscopic warehouse to execute a preset task, virtual debugging and testing of the four-way shuttle vehicle three-dimensional warehouse are realized; the virtual debugging module is used for realizing data interaction with a scheduling system through virtual debugging, and running a preset scheduling algorithm in a virtual simulation model to replace the effect of a real four-way shuttle vehicle three-dimensional warehouse verification scheduling algorithm; and the multi-scene simulation test module is used for simulating the operation conditions of the four-way shuttle vehicle three-dimensional warehouse in different scenes. According to the invention, interconnection and intercommunication between a real four-way shuttle vehicle three-dimensional warehouse system and a scheduling system can be replaced, and through virtual debugging and testing, the construction and operation cost of a physical system is reduced. The problem that the physical system construction and operation cost of the four-way shuttle vehicle three-dimensional warehouse is high is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of design of a four-way shuttle vehicle stereoscopic warehouse, and in particular to a four-way shuttle vehicle stereoscopic warehouse simulation system and method. Background Art

[0002] Four-way shuttle-based storage and retrieval systems (FSS / RS) is a high-density automated storage system that uses four-way shuttles to store and retrieve goods. Figure 1 As shown in the figure, the four-way shuttle high-bay warehouse system includes: forklift 1, sub-aisle 2 (vertical), cargo space (without pallets) 3, main aisle 4 (horizontal), four-way shuttle 5, elevator 6, and cargo space 7 (with pallets). Cargo is transported by forklifts or four-way shuttles. The four-way shuttle can move in all four directions, front, back, left, and right. The forklift handles horizontal transportation on the ground and vertical transportation on lower floors, while the elevator handles cross-floor transportation.

[0003] Four-way shuttle parking systems involve the integration of multiple disciplines and technologies, resulting in long design cycles and high construction costs. Companies cannot afford the cost of repeated trial and error. Simulation involves creating a system model on a computer that is identical to the actual system. Through simulation experiments, these simulations can reduce the construction and operating costs of the actual system. Introducing computer simulation technology during the planning and design phases and virtual commissioning of the simulation model with the scheduling system can eliminate the investment cost of building a physical test system. This allows for verification of the rationality and feasibility of the current design before commissioning, thereby reducing the cost of physical system construction. Introducing computer simulation technology during the operational phase allows for testing of different operational strategies. Leveraging computer technology for precise calculations and verification analysis, this can improve system efficiency and reduce operating costs. Current simulation models cannot replace the actual four-way shuttle parking system, resulting in poor virtual commissioning and inadequate simulation testing. To test different planning layouts and scheduling algorithms, companies are forced to build costly physical test systems, or even directly construct the physical parking system. Problems can only be identified and addressed after actual operation. This leads to discrepancies between system efficiency and design requirements, resulting in frequent accidents during operation and the high construction and operating costs of the physical system for four-way shuttle parking systems.

[0004] Currently, no effective solutions have been proposed for the above-mentioned problems in the prior art. Summary of the Invention

[0005] The present invention provides a four-way shuttle car stereoscopic warehouse simulation system and method to solve the technical problems existing in the prior art, such as the simulation model cannot replace the real four-way shuttle car stereoscopic warehouse system, the virtual debugging effect is poor, and the simulation test is insufficient, resulting in the four-way shuttle car stereoscopic warehouse only being able to discover problems and then deal with them after it is actually put into production and operation, the system efficiency deviates from the design requirements, accidents occur frequently during operation, and the physical system construction and operation costs of the four-way shuttle car stereoscopic warehouse are high.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In one aspect, the present invention provides a four-way shuttle car stereoscopic library simulation system, comprising:

[0008] A virtual simulation model, constructed based on the design data of a four-way shuttle warehouse, is used to simulate a real four-way shuttle warehouse performing preset tasks, thereby enabling virtual commissioning and testing of the four-way shuttle warehouse;

[0009] The virtual debugging module is used to realize data interaction between the virtual simulation model and the scheduling system through virtual debugging, and run the preset scheduling algorithm in the model instead of the real four-way shuttle car stereo library to verify the scheduling algorithm effect;

[0010] The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle car warehouse in different scenarios.

[0011] Furthermore, the model is specifically used to simulate the execution of outbound, inbound, return, transfer, and charging tasks in a real four-way shuttle warehouse, and supports parameterized adjustment of the layout of the four-way shuttle warehouse, simulating the operation status, operation mode, and dynamic events of a real four-way shuttle warehouse;

[0012] The model includes a plurality of equipment and facility modules, wherein the equipment and facility modules include: a four-way vehicle module for simulating a four-way vehicle, a cargo space module for simulating a cargo space, a road module for simulating a road, an elevator module for simulating an elevator, and a forklift module for simulating a forklift;

[0013] The four-way vehicle module is used to transport cargo and can operate on the road according to the instructions of the dispatch system. If the cargo needs to be transported, the lifting mechanism can be used to lift the cargo, turning the four-way vehicle module into a load shuttle. The operating parameters of the four-way vehicle module include: no-load speed, no-load acceleration and deceleration, loaded speed, and loaded acceleration and deceleration. Other parameters include: operating failure rate, code scanning failure rate, vehicle size, and initial position.

[0014] The cargo location module provides an area for storing goods. The cargo location parameters of the cargo location module include: number of rows, columns and layers, as well as whether goods are stored and the code of the stored goods.

[0015] The road module provides a track for the four-way shuttles. The road is divided into a main channel and a sub-channel. The shuttles enter the cargo area from the main channel. The road module's road parameters include: road location, road block code, road type, road direction, and road failure rate.

[0016] The elevator module is used for changing floors for cargo and four-way shuttles. It supports delivering cargo and four-way shuttles from the current floor to a designated floor according to the dispatching system's instructions. The elevator parameters of the elevator module include: elevator position, height, speed, and acceleration.

[0017] The forklift module runs on the ground according to the instructions of the scheduling system, and controls the direction and distance of movement through the wheels; the forklift parameters of the forklift module include: initial position, speed, acceleration and the maximum height supported for transportation.

[0018] Furthermore, the dispatch system instructions are the control instructions of the dispatch system to each equipment and facility module;

[0019] The instructions of the four-way vehicle module include: current position, operation path, action on each road block and waiting time; the instructions of the elevator module include: operation starting floor, operation end floor and moving cargo code; the instructions of the forklift module include: operation starting point coordinates, operation end point coordinates, operation path and moving cargo code; among them, when the four-way vehicle module completes each task, the received cargo handling action instructions must be completed on the cargo space with cargo, and the cargo putting down action instructions must be completed on the empty cargo space; the four-way shuttle vehicle needs to ensure that the power is higher than the safety power before each task is executed; for cargo spaces where cargo has been stored, the empty four-way vehicle module is allowed to pass through from below, and the loaded four-way vehicle module needs to detour.

[0020] Furthermore, the virtual debugging module is specifically used to realize data interaction between the virtual simulation model and the scheduling system through a preset communication protocol. The virtual simulation model acts as a client to send data to the scheduling system, and then receives instructions generated by the scheduling system and operates according to the instructions. The data exchanged between the virtual simulation model and the scheduling system includes: map parameters, vehicle operation parameters, vehicle dynamic parameters, task parameters, obstacle data, operation mode, four-way shuttle operation instructions, elevator operation instructions, and forklift operation instructions transmitted by the scheduling system; the virtual simulation model transmits to the scheduling system whether the scheduling is successful, scheduling plan data, and system debugging statistics.

[0021] After the simulation system is initialized, it simulates equipment operation and calculates throughput and equipment utilization in real time. The scheduling system updates real-time task data and completes the four-way shuttle path planning according to the task allocation results, obtaining operation instructions for the four-way shuttle, elevator, and forklift. The virtual simulation model runs according to the instructions. If a conflict occurs, it is resolved according to the scheduling strategy. If a dynamic event occurs during real-time operation, the scheduling system updates the obstacle data and reduces the impact of the dynamic event on the system according to the dynamic scheduling strategy, giving new operation instructions for the four-way shuttle, elevator, and forklift. The simulation system runs until the vehicle completes the current task, and the scheduling system gives the scheduling instructions for the next task. The operation ends when all arrived tasks are completed.

[0022] Furthermore, the method of verifying the scheduling algorithm effect by replacing a real four-way shuttle car stereoscopic warehouse includes:

[0023] Verify the effectiveness of the scheduling algorithm;

[0024] Verify the rationality of the layout planning of the four-way shuttle car stereoscopic warehouse;

[0025] Verify the feasibility of the operation mode.

[0026] Furthermore, when verifying the effectiveness of the scheduling algorithm, if the four-way shuttle can complete the task without collision or deadlock during operation, the scheduling algorithm is determined to be effective; otherwise, the scheduling algorithm is determined to be invalid.

[0027] When verifying the rationality of the layout planning of the four-way shuttle car stereoscopic warehouse, if each cargo location, elevator and forklift can cooperate to complete the tasks of outbound, inbound and return to the warehouse, the cargo locations can complete the transfer task, and the vehicles at any location can reach the charging station to complete the charging task, then the layout planning of the four-way shuttle car stereoscopic warehouse is determined to be reasonable. Otherwise, the layout planning of the four-way shuttle car stereoscopic warehouse is determined to be unreasonable.

[0028] Verifying the feasibility of the operation mode includes verifying the feasibility of different operation modes such as elevator lifting goods, forklift lifting goods, four-way shuttle changing floors, and four-way shuttle not changing floors.

[0029] Furthermore, the rationality of the layout planning of the four-way shuttle car warehouse and the feasibility of the operation mode are verified before the physical system of the warehouse is built; the effectiveness of the scheduling algorithm is verified before and after the physical system of the warehouse is built.

[0030] Furthermore, the simulation of the operation of the four-way shuttle car stereoscopic warehouse in different scenarios includes: equipment performance test, scheduling strategy test, resource allocation test, stress test and dynamic event test.

[0031] Furthermore, the equipment performance test specifically includes: parametrically adjusting the vehicle operating parameters in the simulation model, testing different speed conditions, and verifying whether the four-way shuttle equipment can successfully and safely complete the task and whether it can meet the design requirements;

[0032] The scheduling strategy test specifically includes: changing the scheduling strategy in the scheduling system, simulating the simulation model to run according to the instructions obtained by different scheduling strategies, testing the throughput of the entire system and the utilization rate of each device under different scheduling strategies, and determining the applicability of different scheduling strategies to see whether they can meet the design requirements;

[0033] The resource allocation test specifically includes: increasing the number of four-way shuttles and road layout in the simulation model, testing the impact of the number of four-way shuttles on system throughput and equipment utilization, and testing the impact of the number and direction of roads on system throughput, equipment utilization, and scheduling time;

[0034] The stress test specifically includes: increasing the number of four-way shuttles in the simulation model to test the maximum number of vehicles that the four-way shuttle library can accommodate, and verifying the stability and reliability of the system;

[0035] The dynamic event test specifically includes: setting the four-way shuttle operation failure rate, code scanning failure rate and road failure rate to a number greater than 0 in the simulation model, simulating the failure conditions of real scenarios, testing whether the scheduling system can cope with dynamic events of preset types, and testing whether the scheduling algorithm can ensure stable and reliable operation of the system.

[0036] On the other hand, the present invention also provides a four-way shuttle car stereoscopic warehouse simulation method implemented by using the above-mentioned four-way shuttle car stereoscopic warehouse simulation system, the method comprising:

[0037] A virtual simulation model is used to simulate a real four-way shuttle car stereo library to perform preset tasks, thereby realizing virtual debugging and testing of the four-way shuttle car stereo library; wherein the model is built according to the design data of the four-way shuttle car stereo library;

[0038] The virtual debugging module is used to implement data interaction between the virtual simulation model and the scheduling system through virtual debugging. The preset scheduling algorithm is run in the model to replace the actual four-way shuttle car stereo library to verify the scheduling algorithm effect.

[0039] The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle car warehouse in different scenarios.

[0040] On the other hand, the present invention further provides an electronic device, comprising a processor and a memory; wherein the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement the above method.

[0041] In yet another aspect, the present invention further provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, and the instruction is loaded and executed by a processor to implement the above method.

[0042] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0043] The present invention builds a virtual simulation model based on the design data of the three-dimensional warehouse. The model can simulate the four-way shuttle vehicles performing various tasks, collect various operating data in the four-way shuttle three-dimensional warehouse system, and realize virtual debugging and testing. The simulation model virtual debugging method is used to determine whether the scheduling algorithm is effective, whether the layout planning is reasonable, and whether the operation mode is feasible. Through multi-scenario simulation testing, the equipment performance, scheduling strategy, and resource quantity with the highest throughput and equipment utilization are determined. The scheduling algorithm is tested to determine whether it can stably and reliably issue scheduling instructions after stress testing and dynamic events. This reduces the construction and operating costs of the physical system of the four-way shuttle three-dimensional warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 This is a three-dimensional simulation model diagram of a four-way shuttle car warehouse provided by an embodiment of the present invention;

[0046] Figure 2 This is a block diagram of a four-way shuttle car stereoscopic library simulation system provided by an embodiment of the present invention;

[0047] Figure 3 This is a flow chart of virtual debugging of a simulation model provided by an embodiment of the present invention;

[0048] Figure 4 This is a flow chart of the interaction between the simulation system and the scheduling system provided by an embodiment of the present invention;

[0049] Figure 5 is a flow chart of the effectiveness of the scheduling algorithm provided by an embodiment of the present invention;

[0050] Figure 6 This is a flow chart for verifying the rationality of a layout plan provided by an embodiment of the present invention;

[0051] Figure 7 This is a feasibility flow chart of the verification operation mode provided by an embodiment of the present invention;

[0052] Figure 8This is a flow chart of device performance testing provided by an embodiment of the present invention;

[0053] Figure 9 This is a flow chart of a scheduling strategy test provided by an embodiment of the present invention;

[0054] Figure 10 This is a flow chart of resource allocation device performance testing provided by an embodiment of the present invention;

[0055] Figure 11 is a stress test flow chart provided by an embodiment of the present invention;

[0056] Figure 12 This is a flow chart of a dynamic event test provided by an embodiment of the present invention;

[0057] Figure 13 This is a system block diagram of an electronic device provided by an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] 1. Forklift; 2. Sub-aisle; 3. Cargo space; 4. Main aisle; 5. Four-way shuttle;

[0060] 6. Elevator; 7. Cargo space. DETAILED DESCRIPTION

[0061] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0062] First, it should be noted that in the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplarily" is intended to present concepts in a concrete manner. In addition, in the embodiments of the present invention, the meaning of "and / or" can be both or either of the two.

[0063] First embodiment

[0064] This embodiment provides a four-way shuttle car stereo library simulation system, such as Figure 2 As shown, it includes:

[0065] A virtual simulation model, constructed based on the design data of a four-way shuttle warehouse, is used to simulate a real four-way shuttle warehouse performing preset tasks, thereby enabling virtual commissioning and testing of the four-way shuttle warehouse;

[0066] The virtual debugging module is used to realize data interaction between the virtual simulation model and the scheduling system through virtual debugging, and run the preset scheduling algorithm in the model instead of the real four-way shuttle car stereo library to verify the scheduling algorithm effect;

[0067] The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle car warehouse in different scenarios.

[0068] The following is a detailed description of the functions of each module and the operating principles of this system.

[0069] The virtual simulation model of this embodiment can simulate the operation of a four-way shuttle vehicle stereoscopic warehouse. Various mobile devices can run from their current location to the task-specified location according to the instructions of the scheduling system to complete tasks such as outbound, inbound, return, transfer, and charging. The virtual simulation model includes the following modules: a four-way shuttle vehicle module, which is used to carry out cargo transportation and can run on the road according to the instructions of the scheduling system. If transportation is required, the cargo is lifted by a lifting mechanism to become a loaded shuttle vehicle. The operating parameters of the four-way vehicle module include no-load speed, no-load acceleration and deceleration, loaded speed, and loaded acceleration and deceleration. Other parameters include operating failure rate, code scanning failure rate, vehicle size, and initial position; a cargo location module, which is used to store cargo. The cargo location parameters include the number of rows, columns, and layers of cargo locations, whether cargo is stored, and the cargo code; a road module, which is the track on which the four-way shuttle vehicle runs. The road is divided into a main channel and a sub-channel, and the shuttle vehicle enters the cargo location from the main channel. Road parameters include road location, road block code, road type, road direction, and road failure rate. The elevator module, a vertical conveying device in the high-bay warehouse, is primarily used for level change of cargo and four-way shuttles. It can deliver cargo and four-way shuttles from designated floor 1 to designated floor 2 according to the dispatching system's instructions. Elevator parameters include elevator position, height, speed, and acceleration. The forklift module operates on the ground, with its wheels controlling the direction and distance of movement and its lifting mechanism controlling the height of movement. It can deliver cargo to a designated location and height according to the dispatching system's instructions. Forklift parameters include initial position, speed, acceleration, and maximum transport height.

[0070] Among them, dispatch system instructions are the operating instructions issued by the dispatch system to movable equipment such as four-way shuttles, elevators, and forklifts. Four-way shuttle instructions include vehicle dynamic parameters such as current location, route, actions on each road block, and waiting time. Elevator instructions include the starting and ending floors, and the code for the cargo being moved. Forklift instructions include the coordinates of the starting and ending points, the route, and the code for the cargo being moved. Because various mobile equipment in the virtual simulation model must complete tasks such as outbound, inbound, return, transfer, and recharging, instructions must be given appropriately. When completing each task, the four-way shuttle must complete instructions for moving cargo at a loaded location, and instructions for dropping off cargo at an empty location. The four-way shuttle must ensure that its battery level is above the safe level before each task. For cargo locations already stocked, an empty four-way shuttle can pass underneath, while a loaded one must detour. The dispatch system must provide accurate and effective instructions to ensure the operation of the four-way shuttle system.

[0071] The virtual debugging module realizes data interaction with the scheduling system through virtual debugging, replacing the real four-way shuttle system to verify the effectiveness of the scheduling algorithm, the rationality of the layout planning, the feasibility of the operation mode, etc. Specifically, in this embodiment, the simulation model virtual debugging process is as follows: Figure 3 As shown in the figure, by interacting with the dispatching system, data interaction with the dispatching system is realized, replacing the real four-way shuttle system to verify the effectiveness of the dispatching algorithm, the rationality of the layout planning, and the feasibility of the operation mode. The flow chart of the interaction between the simulation system and the dispatching system is shown in the figure. Figure 4As shown in the figure. Data is transmitted in real time via a socket communication protocol. The simulation model, acting as a client, sends data to the dispatch system server, then receives instructions generated by the server after processing. The simulation model then operates according to these instructions. The interactive data includes: map parameters, vehicle operating parameters, vehicle dynamic parameters, mission parameters, obstacle data, and operation modes transmitted by the dispatch system; operating instructions for the four-way shuttle, elevator, and forklift vehicles transmitted by the dispatch system; and information on dispatch success, dispatch plan data, and system debugging statistics transmitted by the simulation model to the dispatch system. After the simulation system is initialized, it simulates the operation of equipment such as the four-way shuttle, and calculates throughput and equipment utilization in real time; the scheduling system updates real-time task data, completes the four-way shuttle path planning according to the task allocation results, and obtains the operation instructions for the four-way shuttle, elevator, and forklift; the simulation model runs according to the instructions, and if a conflict occurs, it is resolved according to the scheduling strategy; if a dynamic event occurs during real-time operation, the scheduling system updates the obstacle data, reduces the impact of the dynamic event on the system according to the dynamic scheduling strategy, and issues new operation instructions for the four-way shuttle, elevator, and forklift; the simulation system continues to run until the vehicle completes the current task, and the scheduling system issues the scheduling instructions for the next task; until all arrived tasks are completed, the operation ends.

[0072] Multi-scenario simulation testing can measure the impact of different device performance, scheduling strategies, and resource allocation on system efficiency and equipment utilization. It can also verify system stability and reliability through stress testing and dynamic event testing. Equipment utilization refers to the ratio of actual operating time to total available time. Equipment includes four-way vehicles, elevators, and forklifts. Actual operating time includes the time spent operating with load, waiting for load, operating without load, and waiting for load. Total operating time is the time from the start of system operation to the end of system operation.

[0073] Specifically, the simulation model virtual debugging in this embodiment includes:

[0074] Verify the effectiveness of the scheduling algorithm, such as Figure 5As shown, the simulation model replaces the actual four-way shuttle system and interacts with the scheduling system to ensure the effectiveness of the scheduling algorithm, the ability of the four-way shuttle to complete its tasks, and the avoidance of collisions and deadlocks. After assigning tasks to the four-way shuttle, the scheduling system performs path planning and issues scheduling instructions. The simulation system operates the four-way shuttle according to the scheduling system's instructions. If the four-way shuttle fails to follow the instructions and a collision occurs, the scheduling algorithm is invalid. If it operates normally, it indicates that the scheduling algorithm is able to plan a feasible path. During the simulation, if a conflict occurs between the four-way shuttles, the scheduling system must resolve the conflict according to the scheduling strategy and issue new operating instructions. If a collision still occurs, the scheduling algorithm is invalid. If it operates normally, it indicates that the scheduling algorithm is able to resolve the conflict. Subsequently, the simulation system generates dynamic events, and the scheduling system resolves the dynamic events according to the dynamic scheduling strategy and issues new scheduling instructions. If a dynamic event occurs in the simulation system and the four-way shuttle fails to follow the instructions and a collision occurs, it indicates that the scheduling algorithm is invalid. If no collision occurs, it indicates that the scheduling algorithm is able to resolve the dynamic event and is effective.

[0075] Verify the rationality of the layout plan, such as Figure 6 As shown, before constructing the physical system for the three-dimensional warehouse, verify the rationality of each cargo location setup, track layout, elevator positions, forklift pickup and drop-off points, and charging stations. Ensure that each cargo location, elevator, and forklift can coordinate to complete outbound, inbound, and return tasks, that cargo locations can be transferred between each other, and that vehicles at any location can reach the charging station for charging. Starting with the first cargo location, verify the current location as the starting point and all other elevator or forklift pickup points as the end point to ensure smooth outbound tasks. Verify the current location as the starting point and all other elevator or forklift drop-off points as the end point to ensure smooth inbound and return tasks. Verify the current location as the starting point and all other cargo locations as the end point to ensure smooth transfer tasks. Once all cargo locations are verified, verify the correctness of each location, starting with the first charging station. Verify the correctness of each location, starting with the current charging station and ending with all other locations. Then, verify the correctness of each location, starting with the current charging station and ending with all other locations. If the verification is correct, it means that the current charging station is reasonable, and the next charging station verification will be carried out. This process will continue until all charging stations are verified and the layout plan is reasonable. The verification process is as follows: First, the dispatching system will plan the path based on the starting point, end point, track layout, road direction and other data. If there is no feasible path, the layout plan needs to be adjusted and re-verified after adjustment. If there is a feasible path, the four-way shuttle car will run according to the instructions of the dispatching system in the simulation system. If the four-way car runs smoothly, it means that the current starting point and end point are correct, and the next verification will be carried out. If the four-way car does not run smoothly, the layout plan also needs to be adjusted and re-verified after adjustment.

[0076] Verify the feasibility of the operation mode, such as Figure 7 As shown, the feasibility of different operation modes, such as elevator lifting, forklift lifting, four-way shuttle changing floors, and four-way shuttle not changing floors, is verified. This avoids large-scale adjustments to the system after the physical system is built, reducing the construction cost of the warehouse. For the forklift lifting mode, in the simulation system, a forklift is used to transport goods from the ground floor to the lower floors of the warehouse. The forklift then transports goods from the lower floors back to the ground floor. If both steps are achieved and all floors are interconnected, the forklift lifting mode is feasible, and the four-way shuttle does not change floors. If all floors cannot be interconnected, the forklift lifting mode is not feasible, and another mode is used to lift goods. For the elevator lifting mode, in the simulation system, the elevator starts at the first floor, sequentially transports goods to higher floors, and then returns to the current floor. If all floors can be reached and returned, the next floor is verified. Once all floors have been verified, the elevator lifting mode is feasible. If no floor can be reached and returned, the elevator lifting mode is not feasible, and another mode is used to lift goods. For the four-way shuttle floor-changing mode, in the simulation system, the four-way shuttle starts at the first floor, enters the elevator, and then leaves the elevator after reaching a higher floor. It then returns to the elevator, which then returns to its original floor. If the four-way shuttle can successfully reach the other floor and return to its original floor, the current floor is verified. Verification continues with the next floor until all floors are verified, indicating that the four-way shuttle floor-changing mode is feasible. If a floor cannot be reached and returns, the four-way shuttle floor-changing mode is unfeasible and the four-way shuttle non-floor-changing mode must be used.

[0077] Before the construction of the physical system of the three-dimensional warehouse, timely adjustment of the layout planning and operation mode of the three-dimensional warehouse and establishment of the most appropriate scheduling algorithm can reduce construction costs; after the construction of the physical system of the three-dimensional warehouse, debugging the scheduling algorithm can apply mature and effective scheduling algorithms to the real system to reduce operating costs.

[0078] In this embodiment, the multi-scenario simulation test includes:

[0079] Equipment performance testing, such as Figure 8As shown, it is necessary to parameterize vehicle operating parameters in the simulation model and test different speed conditions to verify whether the four-way shuttle system can successfully and safely complete its mission and meet design requirements. First, a speed table is established for testing, including the four-way shuttle's no-load speed, no-load acceleration / deceleration, loaded speed, and loaded acceleration / deceleration. Based on the speed, the vehicle safety distance parameters are determined. The simulation model is initialized and run according to the selected parameters, with the dispatching system issuing instructions. During the simulation run, the four-way shuttle is observed to ensure safety within the safety distance. If the four-way shuttle's emergency stop safety distance is insufficient in an emergency, the safety distance is adjusted and the simulation model is initialized again for testing. During real-time system operation, the system throughput and device utilization are output, the current data is recorded, and the next speed is tested. If the system throughput is less than the design requirement, the current speed combination does not meet the requirements. If it is greater than the design requirement, the current speed combination meets the requirements. After all speed combinations in the speed table have been tested, the results can be output for testing other scenarios. Among them, equipment utilization refers to the ratio of actual operating time to total available time. Equipment includes four-way vehicles, elevators and forklifts. The actual operating time includes the time of loaded operation, loaded waiting, no-load operation and no-load waiting. The total time is the time from the start of system operation to the end of system operation.

[0080] Scheduling strategy tests, such as Figure 9 As shown in the figure, the scheduling system changes scheduling strategies. The simulation model runs according to the instructions generated by different scheduling strategies, testing the overall system throughput and equipment utilization under different scheduling strategies to determine the applicability of different scheduling strategies and whether they meet design requirements. Scheduling strategies include giving way to high-priority tasks for low-priority tasks, giving way to heavy vehicles for light vehicles, giving way to straight-moving vehicles for turning vehicles, and giving way to long-moving vehicles for shorter subsequent paths. First, a scheduling strategy table is established. The scheduling system tests the four-way shuttle vehicle in the order listed in the scheduling strategy table, generating operating instructions for each strategy. The simulation model is initialized, and the scheduling system generates operating instructions based on the selected strategy. During the simulation, the four-way shuttle vehicle is observed for deadlock. If deadlock occurs, the current scheduling strategy does not meet requirements. For scheduling strategies that do not deadlock, the system throughput and equipment utilization are output, the current data is recorded, and the next scheduling strategy is tested. If the system throughput is less than the design requirement, the current scheduling strategy does not meet the requirements. If it is greater than the design requirement, the current scheduling strategy meets the requirements. After all scheduling strategies in the scheduling strategy table have been tested, the results can be output. The scheduling strategies are sorted by throughput to determine the optimal strategy, and then other scenarios can be tested.

[0081] Resource allocation tests, such as Figure 10As shown in the figure, increase the number of four-way shuttles and the road layout in the simulation model, and test the impact of the number of four-way shuttles on the system throughput and equipment utilization rate, as well as the impact of the number and direction of roads on the system throughput, equipment utilization rate, and scheduling time. For the test of the number of four-way shuttles, first initialize the simulation model, determine the minimum number n1 and the maximum number n2 of four-way shuttles to be tested, and the current number of four-way shuttles n = n1. If n >= n2 and the throughput of n vehicles < the throughput of n - 1 vehicles, the test of the number of four-way shuttles ends, and the test results of the number of four-way shuttles are output, and other scenario tests are carried out. For other cases, the simulation model runs according to the selected parameters, and the scheduling system gives scheduling instructions. Observe whether deadlocks occur among the four-way shuttles during the simulation operation, that is, some four-way shuttles cannot move, and the scheduling system has been unable to give an effective scheduling plan. If a deadlock occurs, the maximum number of vehicles that can be accommodated is n - 1, and the system throughput and equipment utilization rate at n - 1 are output, and other scenario tests can be carried out. If no deadlock occurs, the system throughput and equipment utilization rate are output, and the current data is recorded. If the system throughput is less than the design requirement, it means that the current number of four-way shuttles does not meet the requirement; if it is greater than the design requirement, it means that the current number of four-way shuttles meets the requirement. Continue to increase the number of four-way shuttles and conduct simulation experiments until the test ends, and output the impact results of the number of four-way shuttles on the system throughput and equipment utilization rate. For the road setting test, first establish a road setting table. The setting of road resources includes road location, number of roads, road direction, etc. Initialize the simulation model according to the road setting. First, verify the rationality of the layout plan, and then conduct tests after determining that the layout plan is reasonable. If the scheduling time given by the scheduling system is too long, it means that the current road setting does not meet the requirement, consumes a large amount of scheduling resources, and is not suitable for the real four-way shuttle three-dimensional warehouse. If the scheduling time meets the requirement, output the system throughput and equipment utilization rate, record the current data, and test the next road setting. If the system throughput is less than the design requirement, it means that the current road setting does not meet the requirement; if it is greater than the design requirement, it means that the current road setting meets the requirement. After all the road settings in the road setting table are completed, the results can be output, sort the road settings according to the throughput, determine the optimal road setting, and output the impact of the number and direction of roads on the system throughput, equipment utilization rate, and scheduling time.

[0082] Stress testing, such as Figure 11As shown, the number of four-way shuttles in the simulation model is increased significantly to test the maximum number of vehicles that the four-way shuttle system can accommodate and verify the stability and reliability of the system. Before the stress test, the simulation model is initialized. If the resource allocation test has already completed, testing the impact of the number of four-way shuttles on system throughput and equipment utilization, and no deadlock has occurred during the test, the number of four-way shuttles n in the stress test can be set to the maximum number n2 in the resource allocation test. If deadlock occurs during resource allocation, the maximum number of vehicles accommodated is the maximum number of four-way shuttles in the resource allocation test, and the stress test is not required, and other scenarios can be tested. If the resource allocation test has not been completed, the number of four-way shuttles n must be specified. The simulation model runs according to the selected parameters and the scheduling instructions issued by the scheduling system to observe whether deadlock occurs. If deadlock occurs, the maximum number of vehicles accommodated is n-1. The system throughput and equipment utilization at n-1 are output, and other scenarios can be tested. If deadlock does not occur, the stress test continues with increasing the number of vehicles until deadlock occurs, completing the test.

[0083] Dynamic event testing: In the simulation model, the four-way shuttle operation failure rate, code scanning failure rate, and road failure rate are set to numbers greater than 0 to simulate failure conditions in real scenarios. This tests whether the dispatching system can cope with situations such as vehicle damage, vehicle inability to scan codes, and impassable roads, and whether the dispatching algorithm can ensure stable and reliable operation of the system. The triggering of dynamic events is carried out in time. Initially, t=t0. The simulation system runs according to the instructions of the dispatching system. At each time interval Δt, it determines whether the four-way shuttle fails to scan the code, whether it has a fault, and whether the road has a fault. Time interval Δt = four-way shuttle speed / four-way shuttle length. At time t, for each four-way shuttle, if the random number r1 is less than the vehicle code scanning failure rate, the four-way shuttle fails to scan the code and transmits the last position information to the dispatching system, which will cause the vehicle dynamic parameters received by the dispatching system to be different from those of the simulation system. The dispatching system outputs a dispatching plan according to the input parameters of the simulation system and the dispatching strategy, and gives dispatching instructions. Four-way shuttle code scanning failure rate m code =a0+ a1·X work , and the number of blocks X that the four-way shuttle currently passes through work Related, where a0 and a1 are the scanning component failure coefficient and the four-way shuttle fatigue failure coefficient, respectively. At the same time, if the random number r2 is less than the vehicle operation failure rate, then these four-way shuttles are faulty. The simulation system transmits the data to the dispatching system. The dispatching system adds the data of the faulty four-way shuttles to the obstacle data, and according to the dynamic dispatching strategy, reduces the impact of dynamic events on the system, outputs the dispatching plan, and gives the dispatching instructions. The four-way shuttle operation failure rate m work =a2+a3·T work +a4·W, and the current working time T of the four-way shuttle work, which is related to the current load condition W of the four-way shuttle, where a2, a3, and a4 are the component failure coefficient, the working failure coefficient, and the load vehicle failure coefficient, respectively. At the same time, in addition to the four-way shuttle, for each road block on the road, if the random number r3 is less than the road failure rate, it means that the road block is faulty and cannot be passed by the four-way shuttle. The simulation system transmits the data to the scheduling system. The road block data of the faulty road in the scheduling system is added to the obstacle data. According to the dynamic scheduling strategy, the impact of dynamic events on the system is reduced, the scheduling plan is output, and the scheduling instructions are given. If all random numbers are greater than or equal to the road failure rate, it means that the four-way shuttle and the road are normal at time t, and the simulation system transmits data normally and receives instructions. Road failure rate m square = a5+ a6·Y work , which is related to the number of four-way shuttle vehicles currently passing through the road Y work , where a5 and a6 are the road block component failure coefficient and the four-way shuttle fatigue failure coefficient, respectively. If a collision occurs while the four-way shuttle is operating according to instructions, it indicates that the dispatch system is unable to effectively handle dynamic events. If no collision occurs, t = t + Δt, and the next judgment is made. Dynamic event testing ends until there are no dispatch instructions at the current time and all three failure scenarios have been tested. Otherwise, testing continues.

[0084] In summary, this embodiment provides a four-way shuttle car stereoscopic warehouse simulation system. A virtual simulation model is built based on the stereoscopic warehouse design data. The model can simulate the four-way shuttle car performing various tasks, collect various operating data in the four-way shuttle car stereoscopic warehouse system, and realize virtual debugging and testing. The simulation model virtual debugging method is used to determine whether the scheduling algorithm is effective, whether the layout planning is reasonable, and whether the operation mode is feasible. Through multi-scenario simulation testing, the equipment performance, scheduling strategy, and resource quantity with the highest throughput and equipment utilization are determined, and the scheduling algorithm is tested to determine whether it can stably give reliable scheduling instructions after stress testing and dynamic events. Reduce the construction and operation costs of the physical system of the four-way shuttle car stereoscopic warehouse.

[0085] Second embodiment

[0086] This embodiment provides a four-way shuttle car stereo library simulation method, including the following steps:

[0087] A virtual simulation model is used to simulate a real four-way shuttle car stereo library to perform preset tasks, thereby realizing virtual debugging and testing of the four-way shuttle car stereo library; wherein the model is built according to the design data of the four-way shuttle car stereo library;

[0088] The virtual debugging module is used to implement data interaction between the virtual simulation model and the scheduling system through virtual debugging. The preset scheduling algorithm is run in the model to replace the actual four-way shuttle car stereo library to verify the scheduling algorithm effect.

[0089] The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle car warehouse in different scenarios.

[0090] Among them, it should be noted that the four-way shuttle vehicle stereoscopic warehouse simulation method of this embodiment corresponds to the four-way shuttle vehicle stereoscopic warehouse simulation system of the above-mentioned first embodiment; among them, the various process steps in the four-way shuttle vehicle stereoscopic warehouse simulation method of this embodiment correspond one-to-one to the functions realized by the various functional modules in the four-way shuttle vehicle stereoscopic warehouse simulation system of the above-mentioned first embodiment; therefore, they will not be repeated here.

[0091] Third embodiment

[0092] This embodiment provides an electronic device, such as Figure 13 As shown, the electronic device includes: a processor and a memory; wherein the processor and the memory can be connected via a communication bus; the memory stores at least one instruction, which is loaded and executed by the processor to implement the method of the first embodiment described above. In addition, the electronic device may also include a transceiver; the processor and the transceiver can be connected via a communication bus, and the transceiver is used to communicate with other devices.

[0093] Next, combine Figure 13 A detailed introduction to the various components of the electronic device is given below:

[0094] The processor is the control center of the electronic device, which may include multiple processors, each of which may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here can be a single processor or a collective term for multiple processing elements. For example, the processor is one or more central processing units (CPUs), other general-purpose processors, application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more microprocessors (digital signal processors, DSPs), one or more field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor can perform various functions of the electronic device by running or executing software programs stored in memory and accessing data stored in memory.

[0095] In a specific implementation, as an embodiment, the processor may include one or more CPUs, such as Figure 13 The CPU0 and CPU1 shown in FIG are, of course, only exemplary.

[0096] The memory is used to store the software program for executing the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0097] Optionally, the memory may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be integrated with the processor or exist independently and accessed through the interface circuit ( Figure 13 (not shown) is coupled to the processor, which is not specifically limited in this embodiment of the present invention.

[0098] The transceiver may include a receiver and a transmitter ( Figure 13 The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function. The transceiver can be integrated with the processor or exist independently and communicate with the electronic device through the interface circuit ( Figure 13 (not shown) is coupled to the processor, which is not specifically limited in this embodiment of the present invention.

[0099] In addition, it should be noted that Figure 13 The structure of the electronic device shown in the figure does not constitute a limitation on the device. The actual device may include more or fewer components than shown, or may combine certain components, or arrange the components differently. In addition, the technical effects achieved by the electronic device when executing the method of the first embodiment can refer to the technical effects described in the first embodiment above, and therefore will not be repeated here.

[0100] Fourth embodiment

[0101] This embodiment provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the method of the first embodiment described above. The computer-readable storage medium may be a ROM, random access memory, CD-ROM, magnetic tape, floppy disk, or optical data storage device. The instructions stored therein can be loaded by a processor in a terminal to execute the method described above.

[0102] Furthermore, it should be noted that the present invention may be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention may take the form of fully or partially hardware embodiments, fully or partially software embodiments, or embodiments combining software and hardware. Furthermore, when implemented using software, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially performed. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired communication (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium may be any computer-accessible medium or a data storage device, such as a server or data center, containing a collection of one or more computer-readable media. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium. The semiconductor medium may be a solid-state drive.

[0103] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0105] It should also be noted that, in this document, relational terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. The terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or terminal device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of other identical elements in the process, method, article, or terminal device comprising the element. In addition, the term "and / or" is merely a description of an associative relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: the presence of A alone, the presence of A and B simultaneously, or the presence of B alone, where A and B can be singular or plural. In addition, the character " / " in this document generally indicates that the preceding and following objects are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the preceding and following context for specific understanding. "At least one" means one or more, and "plurality" means two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0106] In addition, it can be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0107] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0108] In the several embodiments provided herein, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of functional modules / units is merely a logical functional division. In actual implementation, other division methods may be used, such as multiple units or components being combined or integrated into another device, or some features being ignored or not implemented. Furthermore, the coupling or direct coupling or communication connection shown or discussed between each other may be through some interface, indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs. In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0109] If the method is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical disks.

[0110] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. It should be noted that, although preferred embodiments of the present invention have been described, those skilled in the art, once understanding the basic inventive concepts of the present invention, may make various improvements and modifications without departing from the principles of the present invention. Such improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to be interpreted as covering the preferred embodiments and all variations and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A four-way shuttle car stereoscopic warehouse simulation system, characterized in that: include: A virtual simulation model, constructed based on the design data of the four-way shuttle warehouse, is used to simulate a real four-way shuttle warehouse performing preset tasks, thereby enabling virtual commissioning and testing of the four-way shuttle warehouse; The virtual debugging module is used to realize data interaction between the virtual simulation model and the scheduling system through virtual debugging, and run the preset scheduling algorithm in the model to replace the real four-way shuttle car stereo library to verify the scheduling algorithm effect; The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle car warehouse in different scenarios.

2. The four-way shuttle car stereoscopic warehouse simulation system according to claim 1 is characterized in that: The model is specifically used to simulate the execution of outbound, inbound, return, transfer, and charging tasks in a real four-way shuttle warehouse. It also supports parameterized adjustment of the layout of the four-way shuttle warehouse and simulates the operation, operation mode, and dynamic events of the real four-way shuttle warehouse. The model includes a plurality of equipment and facility modules, wherein the equipment and facility modules include: a four-way vehicle module for simulating a four-way vehicle, a cargo space module for simulating a cargo space, a road module for simulating a road, an elevator module for simulating an elevator, and a forklift module for simulating a forklift; The four-way vehicle module is used to transport cargo and can operate on the road according to the instructions of the dispatch system. If the cargo needs to be transported, the lifting mechanism can be used to lift the cargo, turning the four-way vehicle module into a load shuttle. The operating parameters of the four-way vehicle module include: no-load speed, no-load acceleration and deceleration, loaded speed, and loaded acceleration and deceleration. Other parameters include: operating failure rate, code scanning failure rate, vehicle size, and initial position. The cargo location module provides an area for storing goods. The cargo location parameters of the cargo location module include: number of rows, columns and layers, as well as whether goods are stored and the code of the stored goods. The road module provides a track for the four-way shuttles. The road is divided into a main channel and a sub-channel. The shuttles enter the cargo area from the main channel. The road module's road parameters include: road location, road block code, road type, road direction, and road failure rate. The elevator module is used for changing floors for cargo and four-way shuttles. It supports delivering cargo and four-way shuttles from the current floor to a designated floor according to the dispatching system's instructions. The elevator parameters of the elevator module include: elevator position, height, speed, and acceleration. The forklift module runs on the ground according to the instructions of the scheduling system, and controls the direction and distance of movement through the wheels; the forklift parameters of the forklift module include: initial position, speed, acceleration and the maximum height supported for transportation.

3. The four-way shuttle car stereoscopic warehouse simulation system according to claim 2 is characterized in that: The dispatch system instructions are the control instructions of the dispatch system to each equipment and facility module; The instructions of the four-way vehicle module include: current position, operation path, action on each road block and waiting time; the instructions of the elevator module include: operation starting floor, operation end floor and moving cargo code; the instructions of the forklift module include: operation starting point coordinates, operation end point coordinates, operation path and moving cargo code; among them, when the four-way vehicle module completes each task, the received cargo handling action instructions must be completed on the cargo space with cargo, and the cargo putting down action instructions must be completed on the empty cargo space; the four-way shuttle vehicle needs to ensure that the power is higher than the safety power before each task is executed; for cargo spaces where cargo has been stored, the empty four-way vehicle module is allowed to pass through from below, and the loaded four-way vehicle module needs to detour.

4. The four-way shuttle car stereoscopic warehouse simulation system according to claim 1 is characterized in that: The virtual debugging module is specifically used to realize data interaction between the virtual simulation model and the scheduling system through a preset communication protocol. The virtual simulation model acts as a client to send data to the scheduling system, and then receives instructions generated by the scheduling system and operates according to the instructions. The data exchanged between the virtual simulation model and the scheduling system includes: map parameters, vehicle operation parameters, vehicle dynamic parameters, task parameters, obstacle data, operation mode, four-way shuttle operation instructions, elevator operation instructions, and forklift operation instructions transmitted by the scheduling system; the virtual simulation model transmits to the scheduling system whether the scheduling is successful, scheduling plan data, and system debugging statistics. After the simulation system is initialized, it simulates equipment operation and calculates throughput and equipment utilization in real time. The scheduling system updates real-time task data and completes the four-way shuttle path planning according to the task allocation results, obtaining operation instructions for the four-way shuttle, elevator, and forklift. The virtual simulation model runs according to the instructions. If a conflict occurs, it is resolved according to the scheduling strategy. If a dynamic event occurs during real-time operation, the scheduling system updates the obstacle data and reduces the impact of the dynamic event on the system according to the dynamic scheduling strategy, giving new operation instructions for the four-way shuttle, elevator, and forklift. The simulation system runs until the vehicle completes the current task, and the scheduling system gives the scheduling instructions for the next task. The operation ends when all arrived tasks are completed.

5. The four-way shuttle car stereoscopic warehouse simulation system according to claim 1, characterized in that: The proposed method of replacing a real four-way shuttle car stereoscopic library to verify the scheduling algorithm effect includes: Verify the effectiveness of the scheduling algorithm; Verify the rationality of the layout planning of the four-way shuttle car stereoscopic warehouse; Verify the feasibility of the operation mode.

6. The four-way shuttle car stereoscopic warehouse simulation system according to claim 5, characterized in that: When verifying the effectiveness of the scheduling algorithm, if the four-way shuttle can complete the task without collision or deadlock during operation, the scheduling algorithm is determined to be effective; otherwise, the scheduling algorithm is determined to be invalid. When verifying the rationality of the layout planning of the four-way shuttle car stereoscopic warehouse, if each cargo location, elevator and forklift can cooperate to complete the tasks of outbound, inbound and return to the warehouse, the cargo locations can complete the transfer task, and the vehicles at any location can reach the charging station to complete the charging task, then the layout planning of the four-way shuttle car stereoscopic warehouse is determined to be reasonable. Otherwise, the layout planning of the four-way shuttle car stereoscopic warehouse is determined to be unreasonable. Verifying the feasibility of the operation mode includes verifying the feasibility of different operation modes such as elevator lifting goods, forklift lifting goods, four-way shuttle changing floors, and four-way shuttle not changing floors.

7. The four-way shuttle car stereoscopic warehouse simulation system according to claim 6, characterized in that: The rationality of the layout planning of the four-way shuttle car warehouse and the feasibility of the operation mode are verified before the physical system of the warehouse is built; the effectiveness of the scheduling algorithm is verified before and after the physical system of the warehouse is built.

8. The four-way shuttle car stereoscopic warehouse simulation system according to claim 1, characterized in that: The simulation of the operation of the four-way shuttle car stereo library in different scenarios includes: equipment performance test, scheduling strategy test, resource allocation test, stress test and dynamic event test.

9. The four-way shuttle car stereoscopic warehouse simulation system according to claim 8, characterized in that: The equipment performance test specifically includes: parametrically adjusting vehicle operating parameters in a simulation model, testing different speed conditions, and verifying whether the four-way shuttle equipment can successfully and safely complete its tasks and meet design requirements; The scheduling strategy test specifically includes: changing the scheduling strategy in the scheduling system, simulating the simulation model to run according to the instructions obtained by different scheduling strategies, testing the throughput of the entire system and the utilization rate of each device under different scheduling strategies, and determining the applicability of different scheduling strategies and whether they can meet the design requirements; The resource allocation test specifically includes: increasing the number of four-way shuttles and road layout in the simulation model, testing the impact of the number of four-way shuttles on system throughput and equipment utilization, and testing the impact of the number and direction of roads on system throughput, equipment utilization, and scheduling time; The stress test specifically includes: increasing the number of four-way shuttles in the simulation model to test the maximum number of vehicles that the four-way shuttle library can accommodate, and verifying the stability and reliability of the system; The dynamic event test specifically includes: setting the four-way shuttle operation failure rate, code scanning failure rate and road failure rate to a number greater than 0 in the simulation model, simulating the failure conditions of real scenarios, testing whether the scheduling system can cope with dynamic events of preset types, and testing whether the scheduling algorithm can ensure stable and reliable operation of the system.

10. A four-way shuttle car stereoscopic warehouse simulation method implemented by using the four-way shuttle car stereoscopic warehouse simulation system according to any one of claims 1 to 9, characterized in that: The method comprises: A virtual simulation model is used to simulate a real four-way shuttle car stereo library to perform preset tasks, thereby realizing virtual debugging and testing of the four-way shuttle car stereo library; wherein the model is built according to the design data of the four-way shuttle car stereo library; The virtual debugging module is used to implement data interaction between the virtual simulation model and the scheduling system through virtual debugging. The preset scheduling algorithm is run in the model to replace the actual four-way shuttle car stereo library to verify the scheduling algorithm effect. The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle car warehouse in different scenarios.

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