A four-way shuttle vehicle three-dimensional warehouse simulation system and method

Abstract

The application 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. The system comprises a virtual simulation model, which is built according to four-way shuttle vehicle stereoscopic warehouse design data and is used for simulating a real four-way shuttle vehicle stereoscopic warehouse to perform a preset task, realizing virtual debugging and testing of the four-way shuttle vehicle stereoscopic warehouse; a virtual debugging module, which is used for realizing data interaction with a scheduling system through virtual debugging, running a preset scheduling algorithm in the virtual simulation model, and replacing the real four-way shuttle vehicle stereoscopic warehouse to verify the effect of the scheduling algorithm; and a multi-scene simulation testing module, which is used for simulating the running condition of the four-way shuttle vehicle stereoscopic warehouse under different scenes. The application can replace the interconnection of the real four-way shuttle vehicle stereoscopic warehouse system and the scheduling system, reduce the construction and operation cost of the physical system through virtual debugging and testing, and solve the problem of high construction and operation cost of the four-way shuttle vehicle stereoscopic warehouse.

Description

Technical Field

[0001] This invention relates to the field of four-way shuttle automated warehouse design technology, and in particular to a four-way shuttle automated warehouse simulation system and method. Background Technology

[0002] A four-way shuttle-based storage and retrieval system (FSS / RS) is a high-density automated warehousing system that utilizes four-way shuttles to store and retrieve goods. Its structure is as follows: Figure 1 As shown, the four-way shuttle automated storage and retrieval system includes: forklift 1, sub-aisles 2 (longitudinal), palletized storage locations 3, main aisles 4 (transverse), four-way shuttles 5, elevators 6, and palletized storage locations 7. Goods are transported by forklifts or four-way shuttles. The four-way shuttles can move in four directions (front, back, left, and right), the forklifts handle horizontal transport of goods on the ground and vertical transport between lower floors, and the elevators handle transport between floors.

[0003] Four-way shuttle automated warehouses involve the integration of multiple disciplines and technologies, resulting in long design cycles and high construction costs, making it difficult for companies to afford the cost of repeated trial and error. Simulation involves creating a system model in a computer that mirrors the real system, reducing the construction and operation costs of the actual system through simulation experiments. Introducing computer simulation technology during the planning and design phase, through virtual debugging of the simulation model and scheduling system, can save the investment cost of building a physical test system, determine the rationality and feasibility of the current planning and design before production, and reduce the construction cost of the physical system. Introducing computer simulation technology during the operation phase allows for testing different operating strategies, and the use of computer technology for accurate calculation and verification analysis can improve system efficiency and reduce operating costs. However, current simulation models cannot replace real four-way shuttle automated warehouse systems, the virtual debugging effect is poor, and simulation testing is insufficient. To test different planning layouts and scheduling algorithms, companies are forced to build costly physical test systems, or even directly build the automated warehouse physical system, only to discover problems after actual production and operation. This leads to discrepancies between system efficiency and design requirements, frequent accidents during operation, and the high construction and operation costs of the four-way shuttle automated warehouse physical system.

[0004] There is currently no effective solution to the problems mentioned above in the existing technology. Summary of the Invention

[0005] This invention provides a simulation system and method for a four-way shuttle automated warehouse, which solves the technical problems of existing technologies, such as the inability of simulation models to replace real four-way shuttle automated warehouse systems, poor virtual debugging effects, insufficient simulation testing, resulting in problems being discovered and addressed only after the four-way shuttle automated warehouse is put into actual production and operation, deviations between system efficiency and design requirements, frequent accidents during operation, and high physical system construction and operation costs for four-way shuttle automated warehouses.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] On one hand, the present invention provides a four-way shuttle automated warehouse simulation system, comprising:

[0008] A virtual simulation model is built based on the design data of a four-way shuttle automated warehouse. It is used to simulate the execution of preset tasks in a real four-way shuttle automated warehouse, and to realize the virtual debugging and testing of the four-way shuttle automated 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 to run the preset scheduling algorithm in the model to replace the real four-way shuttle car automated warehouse to verify the effect of the scheduling algorithm.

[0010] The multi-scenario simulation test module is used to simulate the operation of the four-way shuttle automated 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 automated warehouse, and supports parameterized adjustment of the layout of the four-way shuttle automated warehouse to simulate the operation, working mode, and dynamic events of a real four-way shuttle automated warehouse.

[0012] The model includes various equipment and facility modules; wherein, the equipment and facility modules include: a four-way vehicle module for simulating a four-way vehicle, a cargo location module for simulating a cargo location, a road module for simulating a road, a hoist module for simulating a hoist, and a forklift module for simulating a forklift.

[0013] The four-way vehicle module is used to perform cargo transportation and can operate on the road according to the instructions of the dispatch system. If loading and unloading are required, the cargo can be lifted by the lifting mechanism, making the four-way vehicle module a load shuttle. The operating parameters of the four-way vehicle module include: unloaded speed, unloaded acceleration and deceleration, loaded speed, and loaded acceleration and deceleration. Other parameters include: operation failure rate, barcode scanning failure rate, vehicle size, and initial position.

[0014] The storage location module provides areas for storing goods; the storage location parameters of the storage location module include: the number of rows, columns, and layers of storage location, as well as whether to store goods and the code of the stored goods.

[0015] The road module provides tracks for four-way shuttles, dividing the road into main channels and sub-channels. Shuttles enter the storage locations from the main channels. The road module's road parameters include: road location, road block code, road type, road direction, and road failure rate.

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

[0017] The forklift module operates on the ground according to the instructions of the dispatching 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 maximum height supported for transportation.

[0018] Furthermore, the scheduling system instructions are the control instructions issued by the scheduling system to various equipment and facility modules;

[0019] The instructions for the four-way vehicle module include: current position, running path, actions on each road block, and waiting time; the instructions for the hoist module include: starting floor, ending floor, and the code of the moved goods; the instructions for the forklift module include: starting coordinates, ending coordinates, running path, and the code of the moved goods. When the four-way vehicle module completes its tasks, the received instructions to move goods must be completed at a location with goods, and the instructions to place goods must be completed at an empty location. The four-way shuttle vehicle must ensure that its battery level is above the safe level before each task is executed. For locations already containing goods, an empty four-way vehicle module is allowed to pass underneath, while a loaded four-way vehicle module must detour around them.

[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, as a client, sends data to the scheduling system and then receives instructions generated by the scheduling system, and runs 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, hoist operation instructions, and forklift operation instructions transmitted by the scheduling system; whether the scheduling was successful, scheduling scheme data, and system debugging statistics transmitted by the virtual simulation model to the scheduling system.

[0021] After initialization, the simulation system simulates the operation of the equipment, and real-time statistics on throughput and equipment utilization are generated. The scheduling system updates real-time task data, completes the path planning for the four-way shuttle according to the task allocation results, and obtains the operating 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, reduces the impact of the dynamic event on the system according to the dynamic scheduling strategy, and issues new operating 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. The operation ends when all arriving tasks have been completed.

[0022] Furthermore, the verification of the scheduling algorithm effect in the alternative real four-way shuttle automated warehouse includes:

[0023] Verify the effectiveness of the scheduling algorithm;

[0024] Verify the rationality of the layout plan for the four-way shuttle automated 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 ineffective.

[0027] When verifying the rationality of the layout of the four-way shuttle automated warehouse, if each storage location, elevator, and forklift can cooperate to complete the tasks of outbound, inbound, and return to the warehouse, and the storage location can be moved between storage locations, and vehicles in any location can reach the charging station to complete the charging task, then the layout of the four-way shuttle automated warehouse is determined to be reasonable; otherwise, the layout of the four-way shuttle automated warehouse is determined to be unreasonable.

[0028] Verifying the feasibility of different operating modes includes verifying the feasibility of different operating modes such as lifting goods with a hoist, lifting goods with a forklift, changing layers with a four-way shuttle, and not changing layers with a four-way shuttle.

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

[0030] Furthermore, the simulated four-way shuttle automated warehouse operates under different scenarios, including: equipment performance testing, scheduling strategy testing, resource allocation testing, stress testing, and dynamic event testing.

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

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

[0033] The resource allocation test specifically involves: adding the number of four-way shuttles and the road layout to 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 involves increasing the number of four-way shuttle cars in the simulation model to test the limit of the number of vehicles that the four-way shuttle car automated warehouse can accommodate, thereby verifying the stability and reliability of the system.

[0035] The dynamic event test specifically involves setting the failure rates of the four-way shuttle, the barcode scanning failure rate, and the road failure rate to values ​​greater than 0 in the simulation model to simulate real-world failure scenarios. This tests whether the scheduling system can handle preset types of dynamic events and whether the scheduling algorithm can ensure the system's stable and reliable operation.

[0036] On the other hand, the present invention also provides a method for simulating a four-way shuttle automated warehouse using the above-mentioned four-way shuttle automated warehouse simulation system, the method comprising:

[0037] A virtual simulation model is used to simulate a real four-way shuttle automated warehouse performing preset tasks, thereby realizing the virtual debugging and testing of the four-way shuttle automated warehouse; wherein, the model is built based on the design data of the four-way shuttle automated warehouse;

[0038] The virtual debugging module is used to realize 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 real four-way shuttle car automated warehouse to verify the effect of the scheduling algorithm.

[0039] The multi-scenario simulation test module was used to simulate the operation of the four-way shuttle automated warehouse under different scenarios.

[0040] In another aspect, the present invention also provides an electronic device comprising a processor and a memory; wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the above-described method.

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

[0042] The beneficial effects of the technical solution provided by this invention include at least the following:

[0043] This invention constructs a virtual simulation model based on the design data of an automated storage and retrieval system (AS / RS). The model can simulate a four-way shuttle performing various tasks, collect various operational data within the AS / RS system, and achieve virtual debugging and testing. Using the simulation model and virtual debugging method, the effectiveness of the scheduling algorithm, the rationality of the layout planning, and the feasibility of the operating modes are determined. Through multi-scenario simulation tests, the performance of equipment with the highest throughput and utilization rate, the scheduling strategy, and the amount of resources are determined. The scheduling algorithm is tested to ensure it can reliably issue scheduling instructions after stress testing and dynamic events. This reduces the construction and operation costs of the four-way shuttle AS / RS physical system. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a three-dimensional simulation model of the four-way shuttle automated warehouse provided in this embodiment of the invention;

[0046] Figure 2 This is a block diagram of the four-way shuttle automated warehouse simulation system provided in this embodiment of the invention;

[0047] Figure 3 This is a flowchart of the virtual debugging process of the simulation model provided in the embodiments of the present invention;

[0048] Figure 4 This is a flowchart illustrating the interaction between the simulation system and the scheduling system provided in this embodiment of the invention.

[0049] Figure 5 This is a flowchart illustrating the effectiveness verification of the scheduling algorithm provided in this embodiment of the invention;

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

[0051] Figure 7 This is a flowchart illustrating the feasibility of the verification operation mode provided in this embodiment of the invention;

[0052] Figure 8This is a flowchart of the equipment performance testing process provided in an embodiment of the present invention;

[0053] Figure 9 This is a flowchart of the scheduling strategy testing process provided in an embodiment of the present invention;

[0054] Figure 10 This is a flowchart of the performance testing process for resource allocation equipment provided in an embodiment of the present invention;

[0055] Figure 11 This is a flowchart of the pressure test provided in an embodiment of the present invention;

[0056] Figure 12 This is a flowchart of the dynamic event testing process provided in an embodiment of the present invention;

[0057] Figure 13 This is a system block diagram of the electronic device provided in the embodiments of the present invention.

[0058] Explanation of reference numerals in the attached figures:

[0059] 1. Forklift; 2. Sub-aisles; 3. Pallet locations; 4. Main aisles; 5. Four-way shuttles;

[0060] 6. Hoist; 7. Cargo bay. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the present invention clearer, 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, the words "exemplarily," "for example," etc., are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the term "exemplarily" is intended to present the concept in a specific manner. Furthermore, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either one or the other.

[0063] First Embodiment

[0064] This embodiment provides a four-way shuttle automated warehouse simulation system, such as... Figure 2 As shown, it includes:

[0065] A virtual simulation model is built based on the design data of a four-way shuttle automated warehouse. It is used to simulate the execution of preset tasks in a real four-way shuttle automated warehouse, and to realize the virtual debugging and testing of the four-way shuttle automated 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 to run the preset scheduling algorithm in the model to replace the real four-way shuttle car automated warehouse to verify the effect of the scheduling algorithm.

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

[0068] The functions of each module and the operating principle of this system will be explained in detail below.

[0069] This embodiment's virtual simulation model can simulate the operation of a four-way shuttle automated warehouse. Various mobile devices can move from their current location to a designated task location according to the scheduling system's instructions, completing tasks such as outbound, inbound, return, transfer, and charging. The virtual simulation model includes the following modules: a four-way shuttle module, used for cargo transportation, capable of operating on the road according to the scheduling system's instructions. If handling is required, the cargo is lifted by a lifting mechanism, becoming a load shuttle. The four-way shuttle module's operating parameters include empty speed, empty acceleration / deceleration, loaded speed, and loaded acceleration / deceleration. Other parameters include operational failure rate, barcode scanning failure rate, vehicle size, and initial position; a storage location module, used for storing goods. Storage location parameters include the number of rows, columns, and layers, whether goods are stored, and the stored goods code; and a road module, the track on which the four-way shuttles operate. The road is divided into main channels and sub-channels, with the shuttle entering the storage 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 conveyor in the automated warehouse, is mainly used for changing floors for goods and four-way shuttles. It can move goods and four-way shuttles from designated floor 1 to designated floor 2 according to the dispatch system instructions. Elevator parameters include elevator position, height, speed, and acceleration; the forklift module operates on the ground, controlling the direction and distance of movement through wheels and the height of movement through a lifting mechanism. It can deliver goods to designated locations and heights according to the dispatch system instructions. Forklift parameters include initial position, speed, acceleration, and maximum supported transport height.

[0070] The scheduling system instructions are the operational commands issued by the scheduling system to mobile devices such as four-way shuttles, elevators, and forklifts. The instructions for a four-way shuttle include its current location, operating path, actions on each road block, and waiting time; the instructions for an elevator include the starting floor, ending floor, and the code of the moved goods; and the instructions for a forklift include the coordinates of the starting point, ending point, operating path, and the code of the moved goods. Because various mobile devices in the virtual simulation model need to complete tasks such as outbound, inbound, return, transfer, and charging, the instructions must be given appropriately. When a four-way shuttle completes its tasks, the received instructions to move goods must be executed at a location with goods, and the instructions to place goods must be executed at an empty location. The four-way shuttle must ensure its battery level is above the safe level before each task. For locations already containing goods, an empty four-way shuttle can pass underneath, while a loaded four-way shuttle must detour. The scheduling system is required to issue accurate and effective instructions to ensure the operation of the four-way shuttle automated warehouse.

[0071] The virtual debugging module enables 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, and the feasibility of the operation mode. Specifically, in this embodiment, the virtual debugging process of the simulation model is as follows: Figure 3 As shown, data interaction with the scheduling system is achieved, replacing a real four-way shuttle system to verify the effectiveness of the scheduling algorithm, the rationality of the layout planning, and the feasibility of the operation mode. The flowchart of the interaction between the simulation system and the scheduling system is shown below. Figure 4As shown, data is transmitted in real time via a communication protocol, specifically the socket protocol. The simulation model acts as a client, sending data to the scheduling system server and receiving processed instructions from the server. The simulation model then executes these instructions. The interactive data includes: map parameters, vehicle operation parameters, vehicle dynamic parameters, task parameters, obstacle data, and operation modes transmitted by the scheduling system; four-way shuttle operation instructions, hoist operation instructions, and forklift operation instructions transmitted by the scheduling system; and data transmitted by the simulation model to the scheduling system regarding scheduling success, scheduling scheme data, and system debugging statistics. After initialization, the simulation system 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 path planning for the four-way shuttle according to the task allocation results, and obtains operating instructions for the four-way shuttle, elevator, and forklift. The 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 obstacle data, reduces the impact of the dynamic event on the system according to the dynamic scheduling strategy, and issues new operating instructions for the four-way shuttle, elevator, and forklift. The simulation system continues to run until the vehicles complete the current task, and the scheduling system issues the scheduling instructions for the next task. The operation ends when all arriving tasks are completed.

[0072] Multi-scenario simulation testing can test the impact of different equipment 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 running time to total available time. Equipment includes four-way cranes, hoists, and forklifts. Actual running time includes time spent under load, waiting under load, running without load, and waiting without load. Total time is the time from system start-up to system end-of-run.

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

[0074] Verify the effectiveness of the scheduling algorithm, such as Figure 5As shown, the simulation model replaces the real four-way shuttle system, interacting with the scheduling system to ensure the scheduling algorithm is effective, the four-way shuttle can complete its tasks, and there are no collisions or deadlocks during operation. After assigning tasks to the four-way shuttles, the scheduling system performs path planning and issues scheduling instructions; the simulation system operates the four-way shuttles according to the scheduling system's instructions. If the four-way shuttles cannot operate according to the instructions and a collision occurs, it indicates that the scheduling algorithm is invalid; if they can operate normally, it indicates that the scheduling algorithm can plan feasible paths. When the simulation system is running, if a conflict occurs between the four-way shuttles, the scheduling system needs to resolve the conflict according to the scheduling strategy and issue new operating instructions. If a collision still occurs, it indicates that the scheduling algorithm is invalid; if they can operate normally, it indicates that the scheduling algorithm can resolve the conflict. Subsequently, the simulation system simulates dynamic events, and the scheduling system resolves the dynamic events according to the dynamic scheduling strategy and issues new scheduling instructions. If, after a dynamic event occurs in the simulation system, the four-way shuttles cannot operate normally according to the instructions and a collision occurs, it indicates that the scheduling algorithm is invalid; if no collision occurs, it indicates that the scheduling algorithm can resolve the dynamic events and is effective.

[0075] Verify the rationality of the layout plan, such as Figure 6 As shown, before constructing the automated warehouse physical system, the rationality of each storage location, track layout, elevator location, forklift pick-up and drop-off points, and charging station was verified. This ensured that each storage location, elevator, and forklift could cooperate to complete outbound, inbound, and return tasks, that transfer tasks between storage locations could be completed, and that vehicles from any location could reach the charging station to complete charging tasks. Starting from the first storage location, verification was conducted using the current storage location as the starting point and all other elevator or forklift pick-up points as the ending points to ensure smooth outbound tasks; verification was also conducted using all other elevator or forklift delivery points as the starting point and the current storage location as the ending point to ensure smooth inbound and return tasks; and verification was conducted using the current storage location as the starting point and all other storage locations as the ending points to ensure smooth transfer tasks. After verifying all storage locations sequentially and confirming no issues, verification was then conducted starting from the first charging station. Verification was then conducted using the current charging station as the starting point and all other locations as the ending points. Subsequently, verification was conducted using all other locations as the starting point and the current charging station as the ending point. If the verification is successful, it indicates that the current charging station is reasonable, and the next charging station will be verified. This process continues until all charging stations have been verified and the layout is deemed reasonable. The verification process is as follows: First, based on data such as the starting point, ending point, track layout, and road direction, the scheduling system performs path planning. If no feasible path exists, the layout plan needs to be adjusted, and verification will be repeated. If a feasible path exists, the four-way shuttle will operate according to the scheduling system's instructions within the simulation system. If the four-way shuttle operates smoothly, it indicates that the current starting point and ending point are correct, and the next verification will proceed. If the four-way shuttle does not operate smoothly, the layout plan also needs to be adjusted, and verification will be repeated.

[0076] Verify the feasibility of the work mode, such as Figure 7 As shown, this simulation verifies the feasibility of different operating modes, including hoist lifting, forklift lifting, four-way shuttle floor changing, and four-way shuttle without floor changing. This avoids large-scale system adjustments after the physical system of the automated warehouse is built, reducing construction costs. For the forklift lifting mode, the simulation system shows the forklift moving goods from the ground to a lower floor of the automated warehouse, and then moving goods from the lower floor back to the ground. If both steps are achieved, ensuring interconnectivity between all floors, the forklift lifting mode is feasible, and the four-way shuttle does not change floors. If interconnectivity between all floors cannot be guaranteed, the forklift lifting mode is not feasible, and other modes are used. For the hoist lifting mode, the simulation system shows the hoist starting from the first floor. Goods are moved sequentially to higher floors and then back to the current floor. If all floors are reached and returned, the next floor is verified. This process continues until all floors are verified, indicating the hoist lifting mode is feasible. If a floor cannot be reached and returned, the hoist lifting mode is not feasible, and other modes are used. For the four-way shuttle floor-changing mode, in the simulation system, the four-way shuttle starts from the first floor, enters the hoist, the hoist runs, reaches a higher floor, then leaves the hoist, returns to the hoist, the hoist runs, and returns to the original floor. If the four-way shuttle can successfully reach other floors and return to the original floor, the current floor is verified. Verification continues for the next floor until all floors are verified, indicating the four-way shuttle floor-changing mode is feasible. If a floor cannot be reached and the shuttle cannot return, the four-way shuttle floor-changing mode is not feasible, and only the four-way shuttle non-floor-changing mode can be used.

[0077] Adjusting the layout and operation mode of the automated storage and retrieval system (AS / RS) in a timely manner before its physical system construction, and establishing the most suitable scheduling algorithm, can reduce construction costs. Debugging the scheduling algorithm after the physical system construction allows mature and effective scheduling algorithms to be applied to the real system, reducing operating costs.

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

[0079] Equipment performance testing, such as Figure 8As shown, it is necessary to parameterize and adjust the vehicle operating parameters in the simulation model, test different speed conditions, and verify whether the four-way shuttle can complete the task smoothly and safely, and whether it can meet the design requirements. First, a speed table is established for testing, including the empty speed, empty acceleration / deceleration, loaded speed, and loaded acceleration / deceleration of the four-way shuttle. Based on the speed, the vehicle safety distance parameters are determined, the simulation model is initialized, and it runs according to the selected parameters, with the scheduling system issuing instructions. During simulation, the safety distance within the four-way shuttle's safe distance is observed. If the emergency stop safety distance of the four-way shuttle is insufficient in the event of 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 the utilization rate of each device are output, the current data is recorded, and the next speed is tested. If the system throughput is less than the design requirement, it indicates that the current speed combination does not meet the requirements; if it is greater than the design requirement, it indicates that 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 in other scenarios. Equipment utilization rate refers to the ratio of actual operating time to total available time. Equipment includes four-way vehicles, hoists, and forklifts. Actual operating time includes the time spent operating under load, waiting under load, operating without load, and waiting without load. Total time is the time from when the system starts running to when the system ends running.

[0080] Scheduling strategy testing, such as Figure 9 As shown, the scheduling system changes scheduling strategies, and the simulation model runs according to the instructions obtained from different scheduling strategies. The throughput of the entire system and the utilization rate of each device are tested under different scheduling strategies to determine the applicability of different scheduling strategies and whether they can meet the design requirements. Scheduling strategies include lower-priority tasks yielding to higher-priority tasks, light vehicles yielding to heavy vehicles, turning vehicles yielding to straight-going vehicles, and shorter subsequent paths yielding to longer paths. First, a scheduling strategy table is established. The scheduling system tests the strategies sequentially according to the table, providing the four-way shuttle operation instructions for each strategy. The simulation model is initialized, and the scheduling system provides operation instructions according to the selected strategy. During simulation, deadlock is observed in the four-way shuttle workshop. If deadlock occurs, the current scheduling strategy does not meet the requirements. For scheduling strategies that do not experience deadlock, the system throughput and device utilization are output, the current data is recorded, and the next scheduling strategy is tested. If the system throughput is less than the design requirements, the current scheduling strategy does not meet the requirements; if it is greater than the design requirements, the current scheduling strategy meets the requirements. All scheduling strategies in the scheduling strategy table are tested, and the results are output. The scheduling strategies are sorted according to throughput to determine the optimal strategy, after which other scenario tests can be performed.

[0081] Resource allocation testing, 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, 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 cannot give an effective scheduling plan. If deadlocks occur, 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 deadlocks occur, 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 have been tested, the results can be output. Sort the road settings according to the throughput to 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 is significantly increased in the simulation model to test the limit of the number of vehicles that the four-way shuttle automated warehouse can accommodate, verifying the stability and reliability of the system. Before the stress test, the simulation model is initialized. If resource allocation testing has been completed, testing the impact of the number of four-way shuttles on system throughput and equipment utilization, and no deadlock occurred during the test, the number of four-way shuttles *n* in the stress test can be specified as the maximum number *n²* in the resource allocation test. If a deadlock occurs during resource allocation, the maximum number of vehicles accommodated is the maximum number of four-way shuttles in the resource allocation test; no stress test is needed, and other scenario tests can be performed. If the resource allocation test has not been completed, the number of four-way shuttles *n* needs to be specified. The simulation model runs according to the selected parameters and the scheduling instructions given by the scheduling system, observing whether a deadlock occurs. If a deadlock occurs, the maximum number of vehicles accommodated is *n-1*, and the system throughput and equipment utilization at *n-1* are output; other scenario tests can be performed. If no deadlock occurs, the stress test will continuously increase the number of vehicles until a deadlock occurs, completing the test.

[0083] Dynamic event testing involves setting the failure rates of the four-way shuttle, barcode scanning, and road conditions in the simulation model to values ​​greater than 0. This simulates real-world fault scenarios and tests the scheduling system's ability to handle situations such as vehicle damage, barcode scanning failures, and road closures. It also tests the scheduling algorithm's ability to ensure stable and reliable system operation. Dynamic events are triggered over time, initially at t=t0. The simulation system operates according to the scheduling system's instructions, checking each time interval Δt in turn whether the four-way shuttle has failed to scan a barcode, is malfunctioning, or if the road is faulty. The time interval Δt = four-way shuttle speed / four-way shuttle length. At time t, for each four-way shuttle, if the random number r1 < the vehicle's barcode scanning failure rate, the shuttle fails to scan a barcode and transmits its previous location information to the scheduling system. This results in the scheduling system receiving vehicle dynamic parameters that differ from the simulation system. The scheduling system then outputs a scheduling scheme and issues scheduling instructions based on the simulation system's input parameters and scheduling strategy. The four-way shuttle barcode scanning failure rate is m. code =a0+ a1·X work X work The relevant parameters are a0 and a1, where a0 and a1 are the failure coefficients of the barcode scanning component and the fatigue failure coefficient of the four-way shuttle, respectively. Simultaneously, if the random number r2 < the vehicle operation failure rate, these four-way shuttles fail. The simulation system transmits the data to the scheduling system, where the data of the failed four-way shuttles is added to the obstacle data. Following a dynamic scheduling strategy to reduce the impact of dynamic events on the system, a scheduling scheme is output, and scheduling instructions are given. 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. workThe current load status W of the four-way shuttle is related to the fault coefficients of the components, the operational fault coefficient, and the load vehicle, respectively. Meanwhile, besides the four-way shuttle, for each road segment on the road, if the random number r3 < the road fault rate, it indicates a fault in the road segment, preventing the four-way shuttle from passing. The simulation system transmits this data to the scheduling system. The scheduling system adds the faulty road segment data to the obstacle data, reduces the impact of dynamic events on the system according to a dynamic scheduling strategy, outputs a scheduling scheme, and issues scheduling instructions. If all random numbers are greater than or equal to the road fault rate, it indicates that the four-way shuttle and the road are normal at time t, and the simulation system transmits data and receives instructions normally. The road fault rate m... square = a5 + a6·Y work Y is related to the number of four-way shuttles currently passing through the road. work Where a5 and a6 are the fault coefficients of the road block components and the fatigue fault coefficient of the four-way shuttle, respectively. If a collision occurs while the four-way shuttle is running according to the instructions, it indicates that the scheduling system cannot effectively handle dynamic events. If no collision occurs, t = t + Δt, and the next judgment is made. The dynamic event test ends when there are no more scheduling instructions at the current time and all three fault scenarios have been tested; otherwise, the test continues.

[0084] In summary, this embodiment provides a simulation system for a four-way shuttle automated warehouse. A virtual simulation model is built based on the warehouse design data. This model can simulate the four-way shuttle performing various tasks, collect various operational data within the system, and achieve virtual debugging and testing. Using the simulation model and virtual debugging methods, the effectiveness of the scheduling algorithm, the rationality of the layout planning, and the feasibility of the operating modes are determined. Through multi-scenario simulation tests, the performance of equipment with the highest throughput and utilization rate, the scheduling strategy, and the amount of resources are determined. The scheduling algorithm is tested to ensure it can reliably issue scheduling instructions after stress testing and dynamic events. This reduces the construction and operation costs of the four-way shuttle automated warehouse physical system.

[0085] Second Embodiment

[0086] This embodiment provides a simulation method for a four-way shuttle automated warehouse, including the following steps:

[0087] A virtual simulation model is used to simulate a real four-way shuttle automated warehouse performing preset tasks, thereby realizing the virtual debugging and testing of the four-way shuttle automated warehouse; wherein, the model is built based on the design data of the four-way shuttle automated warehouse;

[0088] The virtual debugging module is used to realize 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 real four-way shuttle car automated warehouse to verify the effect of the scheduling algorithm.

[0089] The multi-scenario simulation test module was used to simulate the operation of the four-way shuttle automated warehouse under different scenarios.

[0090] It should be noted that the four-way shuttle automated warehouse simulation method of this embodiment corresponds to the four-way shuttle automated warehouse simulation system of the first embodiment described above; and each process step in the four-way shuttle automated warehouse simulation method of this embodiment corresponds one-to-one with the function implemented by each functional module in the four-way shuttle automated warehouse simulation system of the first embodiment described above; therefore, it will not be described again 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. Furthermore, 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] Below, in conjunction with Figure 13 A detailed introduction to each component of this electronic device is provided below:

[0094] The processor is the control center of the electronic device. The electronic device may include multiple processors, each of which can be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The term "processor" can refer to a single processor or a collective term for multiple processing elements. For example, a processor can be 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 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 by calling data stored in memory.

[0095] In a specific implementation, as one example, the processor may include one or more CPUs, for example... Figure 13 CPU0 and CPU1 shown are, of course, merely illustrative examples.

[0096] The memory is used to store the software program that executes the solution of the present invention, and the processor controls its execution. For specific implementation methods, please refer to the above method embodiments, which will not be repeated here.

[0097] Optionally, the memory may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may be integrated with the processor or exist independently, and may be accessed through the interface circuit of the electronic device ( Figure 13 (Not shown in the image) is coupled to the processor; however, this embodiment of the invention does not impose specific limitations on this.

[0098] The transceiver may include a receiver and a transmitter. Figure 13 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function. The transceiver can be integrated with the processor or exist independently, and can be connected through the interface circuit of the electronic device (…). Figure 13 (Not shown in the image) is coupled to the processor, and this embodiment of the invention does not specifically limit this.

[0099] In addition, it should be noted that, Figure 13 The structure of the electronic device shown is not intended to limit the device. Actual devices may include more or fewer components than shown, or combine certain components, or have different component arrangements. Furthermore, the technical effects achieved by this electronic device when performing the method of the first embodiment described above can be referenced to the technical effects described in the first embodiment; therefore, they 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, etc. The instruction stored therein can be loaded and executed by a processor in a terminal.

[0102] Furthermore, it should be noted that the present invention can be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention can take the form of a completely or partially hardware embodiment, a completely or partially software embodiment, or an embodiment combining software and hardware aspects. Moreover, when implemented in software, embodiments of the present invention can 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 includes one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any usable medium accessible to a computer or a data storage device such as a server or data center containing one or more sets of usable media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive (SSD).

[0103] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

[0106] Furthermore, it is understood that in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply 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 recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0108] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of functional modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units 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 can be selected to achieve the purpose of this embodiment according to actual needs. Additionally, the functional units in the various embodiments of this invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one 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 part that contributes to the prior art, or a part 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (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 pointed out that although preferred embodiments of the present invention have been described, those skilled in the art, once they understand the basic inventive concept of the present invention, can make several improvements and modifications without departing from the principles described herein. These 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 including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

Claims

1. A four-way shuttle vehicle stereoscopic warehouse simulation system, characterized in that, The simulation model is built according to the design data of the four-way shuttle vehicle stereoscopic warehouse, is used for simulating the real four-way shuttle vehicle stereoscopic warehouse to perform a preset task, and realizes virtual debugging and testing of the four-way shuttle vehicle stereoscopic warehouse. The virtual debugging module is used for realizing data interaction between the virtual simulation model and the scheduling system through virtual debugging, running a preset scheduling algorithm in the model, and verifying the scheduling algorithm effect by replacing the real four-way shuttle vehicle stereoscopic warehouse. The multi-scene simulation testing module is used for simulating the running of the four-way shuttle vehicle stereoscopic warehouse in different scenes. The running of the simulated four-way shuttle vehicle stereoscopic warehouse in different scenes includes device performance testing, scheduling strategy testing, resource allocation testing, stress testing, and dynamic event testing. The device performance testing specifically comprises parameterized adjustment of vehicle running parameters in the virtual simulation model, testing of different speed conditions, verification of whether the four-way shuttle vehicle device can successfully and safely complete the task, and whether the design requirements can be met. The scheduling strategy testing specifically comprises replacement of scheduling strategies in the scheduling system, running of the virtual simulation model according to instructions obtained according to different scheduling strategies, testing of the throughput of the entire system and the utilization rate of each device under different scheduling strategies, determination of the applicability of different scheduling strategies, and whether the design requirements can be met. The resource allocation testing specifically comprises increase of the number of four-way shuttle vehicles and road arrangements in the virtual simulation model, testing of the influence of the number of four-way shuttle vehicles on the system throughput and the device utilization rate, and testing of the influence of the number and direction of roads on the system throughput, the device utilization rate, and the scheduling time. The stress testing specifically comprises increase of the number of four-way shuttle vehicles in the virtual simulation model, testing of the limit of the number of vehicles that can be accommodated by the four-way shuttle vehicle stereoscopic warehouse, and verification of the stability and reliability of the system. The dynamic event testing specifically comprises setting of the running failure rate, the code scanning failure rate, and the road failure rate of the four-way shuttle vehicle to a number greater than 0 in the virtual simulation model, simulation of the failure conditions in the real scene, testing of whether the scheduling system can cope with preset types of dynamic events, and testing of whether the scheduling algorithm can ensure stable and reliable operation of the system. The model is specifically used for simulating the real four-way shuttle vehicle stereoscopic warehouse to perform the tasks of warehouse-out, warehouse-in, warehouse-back, warehouse-move, and charging, and supports parameterized adjustment of the layout of the four-way shuttle vehicle stereoscopic warehouse, simulation of the running conditions, operation modes, and dynamic events of the real four-way shuttle vehicle stereoscopic warehouse.

2. The four-way shuttle vehicle warehouse simulation system of claim 1, wherein, The model comprises a plurality of device and facility modules; wherein the device and facility modules comprise a four-way vehicle module for simulating a four-way vehicle, a storage location module for simulating a storage location, 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 for performing cargo transportation and can run on the road according to the instructions of the scheduling system; if it needs to carry, the cargo is lifted by the lifting mechanism, so that the four-way vehicle module becomes a load shuttle vehicle; the running parameters of the four-way vehicle module include empty speed, empty acceleration and deceleration, load speed, and load acceleration and deceleration; other parameters include running failure rate, code scanning failure rate, vehicle size, and initial position. ​ A rack module provides an area for storing goods; the rack parameters of the rack module include: rack row, column and layer, and whether to store goods and the stored goods code; A road module provides a track for the four-way shuttle vehicle to run on, and divides the road into a main channel and a sub-channel, and the shuttle vehicle enters the rack from the main channel; the road parameters of the road module include: road position, road block code, road type, road direction and road failure rate; An elevator module is used for the layer change of goods and four-way shuttle vehicles, and supports sending goods and four-way shuttle vehicles from the current floor to the specified floor according to the scheduling system instruction; the elevator parameters of the elevator module include: elevator position, height, speed and acceleration; A forklift module runs on the ground according to the scheduling system instruction, and controls the direction and distance of movement through the wheels; the forklift parameters of the forklift module include: initial position, speed, acceleration and maximum height supported for transportation.

3. The four-way shuttle vehicle warehouse simulation system of claim 2, wherein, The scheduling system instruction is the control instruction of the scheduling system to each device and facility module; The instructions of the four-way vehicle module include: current position, running path, action on each road block and waiting time; the instructions of the elevator module include: running start floor, running end floor and moving goods code; the instructions of the forklift module include: running start coordinate, running end coordinate, running path and moving goods code; when the four-way vehicle module completes each task, the received carrying goods action instruction is completed on the rack with goods, and the put-down goods action instruction is completed on the empty rack; the four-way shuttle vehicle needs to ensure that the power is higher than the safe power before each task is executed; for the rack with stored goods, the empty four-way vehicle module is allowed to pass from below, and the loaded four-way vehicle module needs to detour.

4. The four-way shuttle vehicle warehouse simulation system of claim 1, wherein, The virtual debugging module is specifically used for realizing data interaction between the virtual simulation model and the scheduling system through a preset communication protocol; the virtual simulation model sends data to the scheduling system as a client, then receives the instructions generated by the scheduling system, and runs according to the instructions; the data interacted between the virtual simulation model and the scheduling system includes: map parameters, vehicle running parameters, vehicle dynamic parameters, task parameters, obstacle data, operation mode, four-way shuttle vehicle running instructions, elevator running instructions and forklift running instructions transmitted by the scheduling system; the scheduling success, scheduling scheme data and system debugging statistical data transmitted by the virtual simulation model to the scheduling system; After the simulation system is initialized, the devices are simulated to run, and the throughput and device utilization are statistically calculated in real time; the scheduling system updates real-time task data, completes the four-way shuttle vehicle path planning according to the task allocation result, and obtains the running instructions of the four-way shuttle vehicle, the elevator and the forklift; the virtual simulation model runs according to the instructions, and if a conflict occurs, the conflict is solved according to the scheduling strategy; if a dynamic event occurs during real-time running, the scheduling system updates the obstacle data, reduces the influence of the dynamic event on the system according to the dynamic scheduling strategy, and gives new running instructions of the four-way shuttle vehicle, the elevator and the forklift; the simulation system keeps running until the vehicle completes the current task, and the scheduling system gives the scheduling instruction of the next task; until all the arrived tasks are completed, the running ends.

5. The four-way shuttle vehicle warehouse simulation system of claim 1, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: The method comprises the following steps: 6.The four-way shuttle vehicle simulation system of the three-dimensional warehouse according to claim 5, wherein, The method comprises the following steps: The method comprises the following steps: The method comprises the following steps:

7. The four-way shuttle vehicle warehouse simulation system of claim 6, wherein, The method comprises the following steps:

8. 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