Stereoscopic warehouse in-out warehouse control method, controller, system and storage medium

Abstract

The invention relates to a stereoscopic warehouse in-out warehouse control method, a controller, a system and a storage medium, under the condition that it is determined that materials are stored in a warehouse, an electric roller is driven through a moving function block, a jacking transverse moving conveyor is driven through a direction changing function block, and a material box is conveyed to a preset position; the warehouse-in and warehouse-out function block drives the lifter to move the material box into the goods shelf; and under the condition that it is determined that the materials are delivered out of the warehouse, the warehouse-in and warehouse-out function block drives the lifter to move the material boxes out of the goods shelf, the electric roller is driven through the moving function block, the jacking transverse moving conveyor is driven through the direction changing function block, and the material boxes are conveyed to the goods buffering area. Due to the adoption of the modular design, the material boxes are driven to be conveyed in the warehouse-in and warehouse-out process through the moving function block and the direction changing function block, and warehouse-in and warehouse-out of the material boxes are driven through the warehouse-in and warehouse-out function block, so that only corresponding parts need to be reset correspondingly under the condition that part of the parts break down, overall resetting is not needed, and the work efficiency of warehouse-in and warehouse-out is improved.

Description

Technical Field

[0001] The present application relates to the field of warehousing technology, and in particular to a method, controller, system and storage medium for controlling the entry and exit of a three-dimensional warehouse. Background Art

[0002] As a crucial component of logistics and warehousing systems, high-bay warehouses are being adopted by a growing number of industries, placing increasing demands on their inbound and outbound capabilities. However, currently, most high-bay warehouses utilize an integrated design, requiring complete reset to resume operation when components malfunction. This results in low efficiency in high-bay warehouse conveyor lines. Summary of the Invention

[0003] The present application provides a method, controller, system and storage medium for controlling the entry and exit of a three-dimensional warehouse to solve the technical problem of how to improve the working efficiency of the three-dimensional warehouse.

[0004] In a first aspect, the present application provides a method for controlling access control of a three-dimensional warehouse, the method being applied to a three-dimensional warehouse access controller, the three-dimensional warehouse access controller including a movement function block, a direction change function block, and an access function block, the method comprising:

[0005] When it is determined that the material is being put into storage, the moving function block drives the electric roller and the direction changing function block drives the lifting and transverse conveyor to transport the material box to a preset position, and the storage and warehousing function block drives the elevator to move the material box into the shelf;

[0006] When it is determined that the material is to be shipped out, the in-and-out functional block drives the elevator to move the material box out of the shelf, and drives the electric roller through the moving functional block and drives the lifting and transverse conveyor through the direction change functional block to transport the material box to the cargo buffer zone.

[0007] Optionally, the motorized roller is driven by the movement function block and the lifting and transverse conveyor is driven by the direction change function block, comprising:

[0008] When it is detected that there is no material box at the feeding position of the lifting and transverse conveyor and there is a material box at the position of the electric roller feeding the lifting and transverse conveyor, the feeding roller of the lifting and transverse conveyor rotates to transfer the material box to the feeding position of the lifting and transverse conveyor, and controls the feeding roller to stop rotating;

[0009] The lifting mechanism of the lifting and transverse conveyor rises from a first height to a second height, and drives the transverse motor of the lifting and transverse conveyor to work, so as to transfer the material box from the feeding position of the lifting and transverse conveyor to the discharging position of the lifting and transverse conveyor;

[0010] The lifting mechanism of the lifting and transverse moving conveyor is lowered from the second height to the first height, and drives the discharge roller of the lifting and transverse moving conveyor to rotate, so that the material box is transferred to the next electric roller.

[0011] Optionally, before the in-and-out functional block drives the elevator to move the material box into the shelf or the in-and-out functional block drives the elevator to move the material box out of the shelf, the method further includes:

[0012] Determine a first usage state of the target location in the shelf using a last usage record corresponding to the target location in the algorithm program;

[0013] collecting a second usage status of the target location by a sensor installed at the target location;

[0014] When both the first usage status and the second usage status indicate that the target storage location is idle, determining that the usage status of the target storage location is an idle state;

[0015] When both the first usage status and the second usage status indicate that the target location is occupied, determining that the usage status of the target location is an occupied state;

[0016] When the first usage status and the second usage status are inconsistent, the usage status of the target bin is determined to be an occupied status and an alarm signal is output, where the alarm signal is used to prompt a check on the status of the target bin.

[0017] Optionally, the in-and-out functional block drives the elevator to move the material box to the shelf, including:

[0018] Allocating storage location numbers to all storage locations on the shelf according to the number of layers of the shelf and the order of the storage locations on each layer of the shelf;

[0019] When the shelf includes an idle storage location, based on the storage request of the target material, determining the storage location to be stored for the target material; wherein the storage location to be stored is the storage location with the smallest storage location number among all idle storage locations;

[0020] Determining a target storage location for the elevator to be moved based on the storage location to be stored and a preset mapping relationship, wherein the mapping relationship is a mapping relationship between the storage location number and the storage location coordinates;

[0021] The storage-in and storage-out function block drives the elevator to move the material box loaded with the target material into the waiting storage location according to the target storage location;

[0022] Match the material code of the target material to the storage location number corresponding to the storage location to be entered.

[0023] Optionally, when it is determined that the material is to be shipped out, the in-and-out function block drives the elevator to move the material box out of the shelf, including:

[0024] Obtaining a delivery request for a target material; wherein the delivery request carries the material code of the target material or the storage location number of the target material;

[0025] Based on the outbound request, determine the location number of the warehouse location to be outbound on the shelf where the target material is currently located;

[0026] Determining the target outbound location to which the elevator is to move according to the location number of the outbound location and the mapping relationship;

[0027] The storage-in and storage-out function block drives the elevator to move the material box loaded with the target material out of the target storage position.

[0028] Optionally, the electric roller is driven by the moving functional block, including:

[0029] The mobile function block collects the detection signal of the material box of the current station where the electric roller is located, the detection signal of the material box of the previous station and the detection signal of the material box of the next station;

[0030] When the material box detection signal of the previous station indicates that there is a material box at the previous station and the material box detection signal of the current station indicates that there is no material box at the current station, the moving function block drives the electric roller to start running;

[0031] When the material box detection signal of the current station indicates that there is a material box at the current station and the material box detection signal of the next station indicates that there is no material box at the next station, the moving function block drives the electric roller to continue to operate;

[0032] When the material box detection signal of the current station indicates that there is no material box at the current station and the material box detection signal of the next station indicates that there is no material box at the next station, the timer is started. When the timer reaches a preset time, the moving function block drives the electric roller to stop running.

[0033] Optionally, before driving the electric roller through the moving functional block and driving the lifting and transverse conveyor through the direction changing functional block, the method further includes: configuring one moving functional block for each of the electric rollers, and configuring the direction changing functional block for the lifting and transverse conveyor.

[0034] In a second aspect, the present application provides a stereoscopic warehouse in-and-out control method, which applies the stereoscopic warehouse in-and-out control method according to any one of the first aspects, wherein the stereoscopic warehouse in-and-out controller includes: a movement function block, a direction change function block, and an in-and-out function block;

[0035] The moving functional block is used to drive the electric roller;

[0036] The direction change function block is used to drive the lifting and transverse conveyor;

[0037] The in-and-out functional block is used to drive the elevator to move the material box into the shelf, or drive the elevator to move the material box out of the shelf.

[0038] In a third aspect, the present application provides a three-dimensional warehouse entry and exit control system, which includes: shelves, elevators, electric roller conveyors, lifting and transverse conveyors, and the three-dimensional warehouse entry and exit controller described in the second aspect.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for controlling the entry and exit of a high-bay warehouse as described in any one of the embodiments of the first aspect.

[0040] The above technical solution provided by the embodiment of the present application has the following advantages over the prior art: the method provided by the embodiment of the present application is applied to a storage-in / out controller of a three-dimensional warehouse, the storage-in / out controller comprising a moving function block, a direction changing function block, and a storage-in / out function block. The method comprises: when it is determined that material is entering the warehouse, the moving function block drives the electric roller and the direction changing function block drives the lifting and transverse conveyor to transport the material box to a preset position, and the storage-in / out function block drives the elevator to move the material box into the shelf; when it is determined that material is leaving the warehouse, the storage-in / out function block drives the elevator to move the material box out of the shelf, and the moving function block drives the electric roller and the direction changing function block drives the lifting and transverse conveyor to transport the material box to the cargo buffer. Due to the modular design, the material box transmission during the storage-in / out process is driven by the moving function block and the direction changing function block, and the storage-in / out function block drives the storage-in / out of the material box. Therefore, in the event of failure of some components, only the corresponding components need to be reset, without the need for overall reset, thereby improving the efficiency of storage-in / out. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0044] Figure 1 A system architecture diagram of a method for controlling access to and from a three-dimensional warehouse provided in one embodiment of the present application;

[0045] Figure 2 A flowchart of a method for controlling access to and from a three-dimensional warehouse provided by one embodiment of the present application;

[0046] Figure 3 A schematic diagram of the operation of a lifting and transverse conveyor provided in one embodiment of the present application;

[0047] Figure 4 A schematic diagram of the pins of a direction change function block provided in one embodiment of the present application;

[0048] Figure 5 A schematic diagram of the pins of a mobile function block provided in one embodiment of the present application;

[0049] Figure 6 A schematic diagram of determining the position status of a warehouse provided in one embodiment of the present application;

[0050] Figure 7 A schematic diagram of configuring a bin code value for each bin provided in one embodiment of the present application;

[0051] Figure 8 A schematic diagram of the pins of a storage and outbound function block provided in one embodiment of the present application;

[0052] Figure 9 A schematic diagram of a warehousing process provided for one embodiment of the present application;

[0053] Figure 10 A schematic diagram of a warehouse outflow process provided for one embodiment of the present application;

[0054] Figure 11 A schematic structural diagram of an electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0055] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0056] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0057] In order to solve the technical problem of how to improve the working efficiency of a three-dimensional warehouse in the prior art, the present application provides a three-dimensional warehouse entry and exit control method, controller, system and storage medium. Due to the modular design, the material box transmission during the entry and exit process is driven by the moving function block and the direction change function block, and the entry and exit of the material box is driven by the entry and exit function block. Therefore, in the event of failure of some components, it is only necessary to reset the corresponding components, without the need for overall reset, thereby improving the work efficiency of entry and exit.

[0058] The first embodiment of the present application provides a method for controlling the entry and exit of a three-dimensional warehouse. The method can be applied to a controller for the entry and exit of a three-dimensional warehouse. Specifically, the method can be applied to Figure 1 The system architecture shown in the figure includes at least shelves, elevators, electric roller conveyors, lifting and transverse conveyors, and a stereoscopic warehouse in-and-out controller. The shelves may include multiple, for example, 10 rows of shelves. The elevators may be multiple aisle-type stacking elevators (also referred to as stackers). Each elevator can access material boxes on the left and right rows of shelves. All materials are placed in the material boxes. The material boxes can be taken from the conveyor line by a robotic arm and placed on the elevator loading platform, or the material boxes can be taken out from the elevator loading platform and placed on the conveyor line. Specifically, each row of shelves can be 60 rows in the horizontal direction and 14 layers in the vertical direction, without limitation. The cargo buffer area can be the outbound packaging area and the sorting area.

[0059] The in-and-out controller of the three-dimensional warehouse includes a moving function block, a direction changing function block and an in-and-out function block. The electric roller conveyor includes multiple electric rollers, each of which is equipped with a moving function block, and the lifting and transverse conveyor is equipped with a direction changing function block; the moving function block is used to drive the electric roller; the direction changing function block is used to drive the lifting and transverse conveyor; the in-and-out function block is used to drive the elevator to move the material box into the shelf, or drive the elevator to move the material box out of the shelf.

[0060] Next, based on the system architecture, the warehouse in and out control method is described in detail. Figure 2 The method for controlling the entry and exit of a three-dimensional warehouse includes:

[0061] Step 201, when it is determined that the material is put into storage, the moving function block drives the electric roller and the direction change function block drives the lifting and transverse conveyor to transport the material box to the preset position, and the storage and warehousing function block drives the elevator to move the material box into the shelf.

[0062] Step 202: When it is determined that the material is to be shipped out, the in-and-out function block drives the elevator to move the material box out of the shelf, and drives the electric roller through the moving function block and the lifting and transverse conveyor through the direction change function block to transport the material box to the cargo buffer zone.

[0063] Due to the modular design, the material box transmission during the in-and-out process is driven by the moving function block and the direction change function block, and the in-and-out function block drives the material box in and out of the warehouse. Therefore, in the event of failure of some components, only the corresponding components need to be reset, and there is no need for overall reset, which improves the work efficiency of in-and-out.

[0064] Next, each functional block is described in detail in conjunction with its workflow.

[0065] In one embodiment, the electric roller is driven by the moving function block and the lifting and transverse conveyor is driven by the direction changing function block, including: when it is detected that there is no material box at the feeding position of the lifting and transverse conveyor and there is a material box at the position of the electric roller feeding the lifting and transverse conveyor, the feeding roller of the lifting and transverse conveyor rotates to transfer the material box to the feeding position of the lifting and transverse conveyor, and controls the feeding roller to stop rotating; the lifting mechanism of the lifting and transverse conveyor rises from a first height to a second height, and drives the transverse motor of the lifting and transverse conveyor to work, so as to transfer the material box from the feeding position of the lifting and transverse conveyor to the discharging position of the lifting and transverse conveyor; the lifting mechanism of the lifting and transverse conveyor descends from the second height to the first height, and drives the discharging roller of the lifting and transverse conveyor to rotate, so as to transfer the material box to the next electric roller.

[0066] In this embodiment, the lifting and transverse moving conveyor includes a feed roller, a discharge roller, a transverse moving motor and a lifting mechanism, wherein the feed roller and the discharge roller can be the same rollers as the electric rollers in the electric roller conveyor, and the lifting mechanism (which can be a lifting cylinder) can lift the material box at the second height so that the material box is higher than the plane of the feed roller and the discharge roller. At this time, the material box can be driven to move by the transverse moving motor. Specifically, the transverse moving motor can be provided with a conveyor belt, and the transverse moving motor drives the conveyor belt and then drives the material box to move. When transmitted to the discharge position of the lifting and transverse moving conveyor, the lifting mechanism descends from the second height to the first height. At this time, the material box can be transmitted to the next electric roller under the rotation of the discharge roller.

[0067] In this embodiment, the schematic diagram of the lifting and transverse conveyor operation can be as follows: Figure 3 , where B refers to the lifting and transverse conveyor, including b1 (feeding roller and discharging roller), b2 (transverse motor), b3 (lifting cylinder). In automatic mode, when there is no material box on the lifting and transverse conveyor B at this station and there is a material box at the electric roller A at the previous station, the feeding roller starts to run. When this station detects the signal that the material box is in place (D1 position), the feeding roller stops running. At this time, the lifting cylinder b3 rises to lift the material box. When the lifting cylinder rises to the position signal is detected, the lifting cylinder b3 stops running and the material box is lifted. The lifting mechanism lifts off the plane of the electric roller, and at this time the transverse motor b2 starts to run, and moves the material box transversely to the other direction (D2 position). When the D2 position sensor detects the material box, the transverse motor stops running and the lifting cylinder starts to descend. When the lifting cylinder descends into place signal is detected, the lifting cylinder stops running, and the material box stops on the discharge roller at the D2 position. If the electric roller C at the next workstation does not detect the material box, the discharge roller automatically runs to transport the material box at D2 to the electric roller C. At this point, the material box conveying direction is changed.

[0068] In manual mode, if the emergency stop signal is normal and there are no fault signals, the feed and discharge rollers, traverse motor, and lift cylinder output can be manually started and stopped. In the event of a fault, the feed and discharge rollers, traverse motor, and lift cylinder outputs are automatically stopped. A fault signal is also output for the lift and traverse conveyor, and an alarm signal is transmitted to the human-machine interface (HMI) to facilitate troubleshooting and maintenance. This can be cleared by pressing and holding the reset button for 3 seconds. All components return to their initial positions, the lift cylinders descend, the electric rollers (feed and discharge rollers) stop, and the traverse motor stops.

[0069] In this embodiment, the direction change function block (which can be called FB_LEFT_RIGHT_MOVE) realizes the control of the lifting and moving conveyor, and changes the running direction of the material box on the production line through the lifting and moving conveyor control. It can realize manual / automatic control of the start / stop, reset and other operations of a single device. The schematic diagram of the pins of the direction change function block is as follows Figure 4 , where the pins are defined as follows:

[0070] Mode: Operation mode (0 = manual, 1 = automatic)

[0071] Emergency: Emergency stop (0 = fault, 1 = normal)

[0072] Reset: Fault reset signal

[0073] Motor1_in_F: Motor roller electrical fault input signal (0 = normal, 1 = fault)

[0074] Motor2_in_F: Traverse motor electrical fault input signal (0 = normal, 1 = fault)

[0075] Manual1_cw_Start: Manual forward control of the electric drum (0 = stop, 1 = start)

[0076] Manual1_ccw_Start: Manual reverse control of the electric roller (0 = stop, 1 = start)

[0077] Manual2_Start: Manual start / stop control of the traverse motor (0 = stop, 1 = start)

[0078] Manual3_lift_Up: Manual lifting control cylinder

[0079] Manual3_lift_Down: Manually lower the lifting cylinder

[0080] Lift_down_Sensor: Signal that the lifting cylinder has fallen into position

[0081] Lift_up_Sensor: Lift cylinder rising position signal

[0082] Current_De_Sensor: This station's material box detection sensor (0 = no, 1 = yes)

[0083] Current_Ar_Sensor: Material box in place sensor for this station (diffuse reflection 0 = no, 1 = yes)

[0084] Front_Sensor: Sequence front station material box detection sensor (0 = no, 1 = yes)

[0085] Next_Sensor: Rear station material box detection sensor (0 = no, 1 = yes)

[0086] Timer: Delay (stop motor time setting S)

[0087] Motor1_cw_Run: Motorized drum forward rotation start output

[0088] Motor1_ccw_Run: Motorized roller reverse start output

[0089] Motor2_Run: Transverse motor start output

[0090] Lift_Up: Lifting cylinder up control output

[0091] Lift_Down: Lift cylinder down control output

[0092] Motor1_out_F: Motor roller fault output

[0093] Motor2_out_F: Traverse motor fault output

[0094] Move_F: Transfer operation fault output

[0095] Lift_up_F: Lift cylinder rise timeout fault output

[0096] Lift_down_F: Lift cylinder down timeout fault output

[0097] In this embodiment, due to the modular design, in the event of failure of some components of the lifting and transverse conveyor, it is only necessary to reset the corresponding components through the direction change function block, without the need to reset the entire three-dimensional warehouse in and out control system, thereby improving the efficiency of in and out work.

[0098] In one embodiment, the electric roller is driven by a moving function block, including: the moving function block collects the current station material box detection signal, the previous station material box detection signal and the next station material box detection signal of the current station where the electric roller is located; when the previous station material box detection signal indicates that there is a material box at the previous station and the current station material box detection signal indicates that there is no material box at the current station, the moving function block drives the electric roller to start running; when the current station material box detection signal indicates that there is a material box at the current station and the next station material box detection signal indicates that there is no material box at the next station, the moving function block drives the electric roller to continue running; when the current station material box detection signal indicates that there is no material box at the current station and the next station material box detection signal indicates that there is no material box at the next station, the timer is started, and when the timer reaches a preset time, the moving function block drives the electric roller to stop running.

[0099] In this embodiment, the move function block (FB_MOVE) is used to control the electric roller conveyor equipment. Its primary function is to move or transport the material bins. The conveyor line is primarily implemented by the electric roller equipment. Manual or automatic control of individual equipment start / stop, fault alarm, and reset can be implemented. Each electric roller can be equipped with a material bin detection sensor to detect whether the electric roller equipment has a material bin and, further, determine whether the electric roller is operating with or without a load. Each electric roller can control the operation of the electric roller according to the material box detection signal of the current station where it is located, the material box detection signal of the previous station and the material box detection signal of the next station. For example, when the material box detection signal of the previous station indicates that there is a material box at the previous station and the material box detection signal of the current station indicates that there is no material box at the current station, the mobile function block drives the electric roller to start running; when the material box detection signal of the current station indicates that there is a material box at the current station and the material box detection signal of the next station indicates that there is no material box at the next station, the mobile function block drives the electric roller to continue running; when the material box detection signal of the current station indicates that there is no material box at the current station and the material box detection signal of the next station indicates that there is no material box at the next station, the timer is started, and when the timer reaches the preset time, the mobile function block drives the electric roller to stop running.

[0100] In this embodiment, the schematic diagram of each pin of the mobile function block is as follows: Figure 5, where three consecutive electric rollers (electric roller L, electric roller M and electric roller N) are taken as an example. The three electric rollers correspond to the movement function blocks FB_MOVE_L, FB_MOVE_M and FB_MOVE_N respectively. Each movement function block has three sensor pins, which are respectively connected to the current station material box detection pin Current_Sensor, the previous station material box detection pin Front_Sensor, and the next station material box detection pin Next_Sensor. The sensor status signal is used to determine whether the electric roller is put into operation. In automatic mode, the electric roller has three control modes: First, when there is no material box at this station and the material box at the previous station is detected, it indicates that the material box conveying is normal and the electric roller starts to run; second, when there is a material box at this station and there is no material box at the next station, it indicates that the material box conveying is also normal and the electric roller continues to run; third, when there is no material box at both this station and the previous station, it indicates that the electric roller is running without load. At this time, if the delay setting time Timer is exceeded (Timer indicates the time for the material box to run from roller L to roller M), the electric roller L will be stopped. Among them, sensor 1 refers to the material box detection sensor of the previous station of electric roller L, sensor 2 refers to the material box detection sensor of the station where electric roller L is located, sensor 3 refers to the material box detection sensor of the next station of electric roller L (that is, the station where electric roller M is located), sensor 4 refers to the material box detection sensor of the station where electric roller N is located, and sensor 5 refers to the material box detection sensor of the next station of electric roller N. In this embodiment, the start and stop of the electric roller device is controlled by combining the sensor detection of the material box with the logical relationship of the electric roller device. Taking into account the operating conditions of the equipment in different process processes, not only can the start / stop of each electric roller device on the conveyor line be flexibly controlled, but also a certain amount of electricity energy consumption can be saved, avoiding electricity consumption when the equipment is running at no load.

[0101] At the same time, when the electric roller motor fails, it will output an electric roller fault alarm and transmit the alarm signal to the human-machine interface HMI to facilitate personnel problem investigation and maintenance. The pin definitions of the mobile function block are as follows:

[0102] Mode: Operation mode (0 = manual, 1 = automatic)

[0103] Emergency: Emergency stop input signal (0 = fault, 1 = normal)

[0104] Reset: Fault reset signal

[0105] Motor_in_F: Motor roller electrical fault input signal (0 = normal, 1 = fault)

[0106] Manual_Start: Manual start / stop control (0 = stop, 1 = start)

[0107] Front_Sensor: The material box detection sensor of the previous station (0 = no, 1 = yes)

[0108] Current_Sensor: Material box detection sensor for this station (0=no, 1=yes)

[0109] Next_Sensor: Next station material box detection sensor (0 = no, 1 = yes)

[0110] Timer: Delay (stop motor time setting S)

[0111] Motor_Run: Motor roller start control output

[0112] Moter_out_F: Motor roller fault output

[0113] Move_F: Transfer operation fault output

[0114] In this embodiment, due to the modular design, when some of the electric rollers of the electric roller conveyor fail, it is only necessary to reset the corresponding electric rollers by moving the functional blocks. There is no need to reset the entire warehouse entry and exit control system, nor is there any need to reset all the electric rollers, thereby improving the work efficiency of entry and exit.

[0115] In one embodiment, the method also includes: determining a first usage state of the target bin through the last usage record corresponding to the target bin in the shelf in the algorithm program; collecting a second usage state of the target bin through a sensor installed at the target bin; when both the first usage state and the second usage state indicate that the target bin is idle, determining the usage state of the target bin is an idle state; when both the first usage state and the second usage state indicate that the target bin is occupied, determining the usage state of the target bin is an occupied state; when the first usage state and the second usage state are inconsistent, determining the usage state of the target bin is an occupied state and outputting an alarm signal, the alarm signal being used to prompt an inspection of the state of the target bin.

[0116] In this embodiment, the algorithm program can be a programmable logic control (PLC) program, which determines the first usage status of the target location last time (0 represents idle, 1 represents occupied) through the PLC program, and collects the current second usage status of the target location (0 represents idle, 1 represents occupied) through a sensor installed at the target location (such as a through-beam sensor). The first usage status and the second usage status are then combined to determine the final location status. The location status judgment diagram is shown in FIG. Figure 6Among them, the use of bin code value encoding can avoid the failure of target bin detection due to sensor damage or PLC program operation errors, greatly increasing the fault tolerance of the warehouse system's bin detection, avoiding the production safety risks caused by warehousing when there is goods in the bin, and improving the reliability of the warehouse system's operation.

[0117] Taking each row of shelves as an example with 60 rows in the horizontal direction and 14 layers in the vertical direction, the schematic diagram of configuring the bin code value for each bin is as follows: Figure 7 Each storage location on the shelf (also known as storage location / cargo grid / storage grid / cargo location) is equipped with a beam sensor to detect whether there is a material box in the storage location. Taking into account the special case of damaged cargo location sensors, this embodiment uses a combination of material detection sensors and PLC programs to determine whether the storage location is idle or occupied, that is, the storage location code value judgment method is used to monitor each storage location. If the storage location sensor detects that there is goods or the PLC program detects that there are materials in the storage location, it means that the storage location is occupied, and the code value is 2 at this time; if the storage location sensor and the PLC program simultaneously detect that there is no goods in the storage location, it means that the storage location is idle, and the code value is 1 at this time. This judgment method can avoid the failure of cargo location detection caused by damage to the cargo location sensor or error in the operation of the PLC program, greatly increasing the fault tolerance of the storage system cargo location detection, avoiding the production safety risks caused by warehousing when there is goods in the storage location, and improving the reliability of the storage system operation.

[0118] The PLC program uses a truth table to determine whether each location is free or occupied. The PLC algorithm sets each location's initial value (no material stored) to "FALSE" and its value to "TRUE" after a material is stored. This value is then ANDed with the location's material detection sensor to determine if the location is free, and ORed with the location's material detection sensor to determine if the location is occupied.

[0119] Through PLC programming, a position data variable a is established for each row of shelf positions: =Array[1..840]of UINT. The data type is a one-dimensional array type, the data type is UINT, and the length is 840 (60 columns × 14 layers). Each element in the array represents a cargo position, and each element is preset with two values: 1 indicates that the position is idle, and 2 indicates that the position is occupied. When the PLC and the position sensor detect inconsistency and the position code value is 2, it indicates that the position is abnormal. At this time, the PLC will push the abnormal information to the host computer and alarm to facilitate the user to troubleshoot the problem.

[0120] In one embodiment, the entry and exit function block drives the elevator to move the material box into the shelf, including: assigning location numbers to all locations in the shelf according to the number of shelves and the order of locations on each shelf layer; when the shelf contains idle locations, based on the warehousing request of the target material, determining the location to be entered for the target material; wherein the location to be entered is the location with the smallest location number among all idle locations; determining the target entry position to be moved by the elevator based on the mapping relationship between the location to be entered and a preset mapping relationship, wherein the mapping relationship is a mapping relationship between the location number and the location coordinates; the entry and exit function block drives the elevator to move the material box loaded with the target material to the location to be entered according to the target entry position; matching the material code of the target material to the location number corresponding to the location to be entered.

[0121] In this embodiment, a recursive method can be used to put materials into storage. First, the total number of storage locations is calculated according to the number of shelf layers and the number of storage locations on each shelf layer, and storage location numbers are assigned to all storage locations. The storage location numbers can be assigned in order from the bottom layer to the top layer and from left to right on each layer. When putting materials into storage, based on the storage request of the target material, the storage location with the smallest storage location number is selected from all idle storage locations as the storage location to be put into storage for the target material. Then, the target storage location to be moved by the elevator is determined based on the mapping relationship between the storage location to be put into storage and the preset storage location number and storage location coordinates. Finally, the storage and outbound function block drives the elevator to move the material box loaded with the target material to the storage location to be put into storage according to the target storage location. At the same time, the material code of the target material can be matched to the storage location number corresponding to the storage location to be put into storage, so that the target material can be found by the storage location number or by the material code when leaving the storage.

[0122] In this embodiment, taking the example of a shelf with 60 horizontal rows and 14 vertical layers, the number of cargo spaces per shelf is 60 × 14 = 840. The width, height, and depth (X, Z, Y) of each cargo space are (1.0, 0.75, 0.8 m), and the width, height, and depth (X, Z, Y) of the cargo space material boxes are (0.8, 0.5, 0.6 m). Considering the load balance of the entire shelf and the efficiency of the elevator operation, the warehousing method adopts a progressive method from the lower layer (the first layer) to the upper layer and from the left (the first column) to the right. That is, the first material box is put into the first storage space, the second material box is put into the second storage space, the 60th material box is put into the 60th storage space, the 61st material box is put into the 61st storage space, and so on.

[0123] The origin O is used as the reference point. n represents the location number, ranging from (1, 2, 3, ... 840). c represents the number of shelves, ranging from (1, 2, 3, ... 14). c = Round (n / 60), where Round is the rounding function. d represents the distance the lift's fork travels, and is a fixed value. For the first location, the lift's horizontal travel distance in the X direction is: (n-0.5) × (n-60 × (c-1)) = 0.5 m, its vertical travel distance in the Z direction is: 0.75 × (c-1) = 0.0 m, and the fork's travel distance is fixed: d = 0.7 m. The coordinates of the first location (X, Z, Y) = ((n-0.5) × (n-60 × (c-1)), 0.75 (c-1)), d = (0.5 m, 0. 0m, 0.7m), the 2nd storage location coordinates (X, Z, Y) = ((n-0.5) × (n-60 × (c-1)), 0.75 (c-1)), d) = (1.5m, 0.0m, 0.7m), the 60th storage location coordinates (X, Z, Y) = ((n-0.5) × (n-60 * (c-1)), 0.75 (c-1)), d) = (59.5m, 0.0m, 0.7m).

[0124] In the second layer, the coordinates of the 61st storage location (X, Z, Y) = ((n-0.5)×(n-60×(c-1)), 0.75(c-1)), d) = (0.5m, 0.75m, 0.7m), the coordinates of the 62nd storage location (X, Z, Y) = ((n-0.5)×(n-60×(c-1)), 0.75(c-1)), d) = (1.5m, 0.75m, 0.7m), and the coordinates of the 120th storage location (X, Z, Y) = ((n-0.5)×(n-60×(c-1)), 0.75(c-1)), d) = (59.5m, 0.75m, 0.7m).

[0125] On the 14th floor, the 781st storage location coordinates (X, Z, Y) = ((n-0.5) × (n-60 × (c-1)), 0.75 (c-1)), d) = (0.5m, 9.75m, 0.7m), the 782nd storage location coordinates (X, Z, Y) = ((n-0.5) × (n-60 × (c-1)), 0.75 (c-1)), d) = (1.5m, 9.75m, 0.7m), the 840th storage location coordinates (X, Z, Y) = ((n-0.5) × (n-60 × (c-1)), 0.75 (c-1)), d) = (59.5m, 9.75m, 0.7m).

[0126] When the elevator is loading materials into the warehouse, the target position is the (X, Z, Y) value in the three-dimensional coordinate system, where X is the horizontal movement distance, Z is the vertical movement distance, and Y is the fork travel distance. The PLC program uses array variables to define the warehouse location coordinates (X, Z, Y) = ((n-0.5) × (n-60 × (c-1)), 0.75 (c-1)), d), where n is the warehouse location number, ranging from (1, 2, 3...840), c is the number of shelf layers, ranging from (1, 2, 3...14), c = Round (n / 60), Round is a rounding function, and d is generally a fixed value. When loading goods into the warehouse, it is only necessary to assign the X, Z, and Y target values ​​in the position coordinate system to the corresponding drive mechanism. The three-dimensional movement of the elevator actuator completes the material loading action. This application automatically searches for the storage location number and numbers the storage location number with the material. The storage location number and the material number correspond one to one. The material can be searched directly by the storage location number or material number without confirming the row number and column number. When entering or exiting the warehouse, the elevator can be entered or exited by simply entering the storage location number.

[0127] There are two control modes for conveyor production lines: manual and automatic. In manual mode, the operator controls individual devices step by step according to process production requirements. In automatic mode, the operator's workload is minimal. They only need to input pre-set production-related parameters into the warehouse control system (WCS). The WCS transmits production commands to the PLC control system, which automatically completes the "warehouse in / out" function of materials according to predetermined control logic. For production safety considerations, the control system is equipped with an emergency stop function. The stop signal trigger uses a normally closed contact, which can trigger an emergency stop of production even if the system loses power.

[0128] The schematic diagram of each pin of the storage and outbound function block is as follows Figure 8 The pin definitions of the LIFT_INBOUND_OUTBOUND function block are as follows:

[0129] Mode: Operation mode (0 = manual, 1 = automatic)

[0130] Emergency: Emergency stop (0 = fault, 1 = normal)

[0131] Reset: Fault reset signal

[0132] Run_Mode_Set: Run mode setting (0 = no mode, 1 = loading, 2 = unloading)

[0133] Motor1_in_F: Transverse motor electrical fault input signal (0 = normal, 1 = fault)

[0134] Motor2_in_F: Lift motor electrical fault input signal (0 = normal, 1 = fault)

[0135] Motor3_in_F: Lift motor electrical fault input signal (0 = normal, 1 = fault)

[0136] Manual1_cw: Manual forward rotation of the horizontal motor (0 = stop, 1 = start)

[0137] Manual1_ccw: Manually reverse the horizontal motor (0 = stop, 1 = start)

[0138] Manual2_lift_Up: Manually raise the lifting motor (0 = stop, 1 = start)

[0139] Manual2_lift_Down: Manually lower the lift motor (0 = stop, 1 = start)

[0140] Manual3_front: Manually control the fork forward (0 = stop, 1 = start)

[0141] Manual3_back: Manual back control fork (0 = stop, 1 = start)

[0142] motor1_Sensor: lateral motor sensor signal

[0143] motor2_Sensor: elevator lift motor sensor signal

[0144] motor3_Sensor: fork sensor signal

[0145] lift_CK_Sensor: lift hoist cargo platform cross-beam detection sensor (cross-beam 0 = no, 1 = yes, to prevent material box from getting stuck)

[0146] Froom_Sensor: Froom detection sensor (0 = no, 1 = yes)

[0147] Timer: Delay (stop motor time setting S)

[0148] Run_Mode: Current operating mode (0 = no mode, 1 = loading, 2 = unloading)

[0149] Motor1_Cw: Elevator lateral motor forward (right movement)

[0150] Motor1_Ccw: Elevator lateral motor reverse (left shift)

[0151] Motor2_Up: Elevator lifting motor up output control

[0152] Motor2_Dn: Elevator lifting motor lowering output control

[0153] Motor2_Brake: Elevator lifting motor brake output

[0154] Motor3_front: Lifting fork moves forward to retrieve the material box

[0155] Motor3_back: The lift fork takes the material box back

[0156] Motor1_out_F: elevator transverse motor fault output

[0157] Motor2_out_F: Elevator lifting motor fault output

[0158] Motor3_out_F: Lift fork motor fault output

[0159] Move_F: total fault output of elevator operation

[0160] In this embodiment, due to the modular design, in the event of a partial failure of the elevator, it is only necessary to reset the corresponding components through the entry and exit function block, without the need to reset the entire entry and exit control system of the high-bay warehouse, thereby improving the work efficiency of entry and exit.

[0161] In one embodiment, the lift inbound / outbound function block (LIFT_INBOUND_OUTBOUND) controls the loading and unloading of material boxes via the lift, enabling manual or automatic control of individual lift start / stop, fault alarm, and reset. By horizontally moving the transverse motor, vertically moving the lift, and extending and slightly raising the cargo platform forks toward the cargo compartments on both sides of the laneway, the loading and unloading process is accomplished. This lift inbound / outbound function block has both manual and automatic operating modes.

[0162] In manual mode, when the emergency stop status is normal and there is no fault signal, the lifting motor, horizontal motor and fork motor can be manually started / stopped; when the elevator fails, the lifting motor, horizontal motor and fork motor control output will be stopped.

[0163] In automatic mode, and the operation mode selection is equal to 1 (indicating the storage process). The storage process diagram is as follows Figure 9The PLC receives the incoming material request from the upper-level WCS system and begins executing the incoming material process. First, the PLC determines the conditions for starting the incoming material process. If the incoming material conditions are met, it automatically allocates a storage location. Otherwise, an alarm is triggered and feedback is sent to the WCS system. The production line then begins executing the incoming material process. The electric rollers and the lifting and sliding conveyors start. The electric roller conveyors and the lifting and sliding conveyors transport the material boxes to the incoming material entrance. At the same time, the elevator runs to the incoming material entrance and waits to pick up the material boxes. At this time, the robotic arm picks up the material boxes from the conveyor line and places them on the elevator loading platform. After the robotic arm completes the material placement, it passes a completion mark to the elevator. The elevator begins to execute the incoming material action according to the assigned target storage location through three-dimensional movement in the X, Z, and Y directions. After the action is completed, the PLC control system feeds back the completion mark to the WCS system, and the goods are now in the warehouse.

[0164] In one embodiment, when it is determined that the material is to be shipped out, the entry and exit function block drives the elevator to move the material box out of the shelf, including: obtaining an exit request for the target material; wherein the exit request carries the material code of the target material or the storage location number of the target material; based on the exit request, determining the storage location number of the to-be-shipped bin on the shelf where the target material is currently located; determining the target outbound position to be moved by the elevator based on the storage location number of the to-be-shipped bin and the mapping relationship; the entry and exit function block drives the elevator to move the material box loaded with the target material from the target entry position.

[0165] In this embodiment, when the target material is shipped out, the shipping request of the target material is first obtained. Based on the material code or storage location number carried in the shipping request, when the shipping request carries the material code, the storage location number corresponding to the target material's shipping location on the shelf is determined according to the material code. The target shipping location is determined according to the mapping relationship between the storage location number and the preset storage location number and the storage location coordinates. The elevator is driven by the shipping and entry function block to move the material box loaded with the target material from the target entry position.

[0166] In this embodiment, when the automatic mode is selected and the operation mode is equal to 2 (indicating the outbound process), the outbound process diagram is as follows: Figure 10 The PLC receives a request for material delivery from the upper-level WCS system and begins executing the delivery process. First, the PLC determines the conditions for enabling the delivery process. If these conditions are met, the delivery process is initiated. Otherwise, an alarm is triggered and feedback is sent to the WCS system. The production line then begins executing the delivery process. The elevator travels to the target location to retrieve the material box. Once the material is retrieved, the elevator travels to the delivery location and sends a completion status signal to the robotic arm. Upon receiving the signal, the robotic arm moves the material box from the elevator's loading platform to the electric roller conveyor line. The electric roller and jacking and transverse conveyor transport the material box to the production line's cargo buffer area. Once the delivery process is complete, the PLC control system sends a completion status signal to the WCS system, marking the completion of the delivery.

[0167] To ensure safe operation of the elevator, the loading and unloading function block features a motor delay stop and timeout alarm. If an elevator malfunction occurs, it can be cleared using a reset input signal. Pressing and holding the reset button for 3 seconds returns all components to their initial positions: the forks retract, and the traverse motor and lift motor stop. Regardless of mode, the lift motor's brake output is active when the lift motor is ascending or descending. When the lift motor is not ascending or descending, the lift motor's brake output is disabled.

[0168] In the above embodiments of the present application, the control process is realized by three functional blocks: the moving functional block, the direction changing functional block and the warehousing and out-of-warehouse functional block to realize the movement of the material box, the change of the running direction of the material box, and the warehousing / out-of-warehouse of the object box. Due to the modular design, in the event of failure of some components, it is only necessary to reset the corresponding components, without the need for overall reset, thereby improving the work efficiency of warehousing and out-of-warehouse.

[0169] Based on the same technical concept, the second embodiment of the present application provides an electronic device, such as Figure 11 As shown, it includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0170] Memory 113, for storing computer programs;

[0171] In one embodiment of the present application, the processor 111 is configured to implement the warehouse entry and exit control method of any one of the aforementioned method embodiments when executing the program stored in the memory 113 .

[0172] The communication bus mentioned in the terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0173] The communication interface is used for communication between the above terminal and other devices.

[0174] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0175] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0176] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program implements the storage control method for a three-dimensional warehouse provided in any one of the aforementioned method embodiments.

[0177] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0178] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiment.

[0179] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0180] It should be understood that the specific embodiments described herein are intended only to illustrate the present application and are not intended to limit the present application. In the description, suffixes such as "module," "component," or "unit" used to represent elements are used solely to facilitate the description of the present application and have no specific meaning. Therefore, "module," "component," or "unit" may be used interchangeably.

[0181] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A method for controlling the entry and exit of a three-dimensional warehouse, characterized in that: The method is applied to a stereoscopic warehouse in-and-out controller, which includes a movement function block, a direction change function block, and an in-and-out function block. The method includes: When it is determined that the material is being put into storage, the moving function block drives the electric roller and the direction changing function block drives the lifting and transverse conveyor to transport the material box to a preset position, and the storage and warehousing function block drives the elevator to move the material box into the shelf; When it is determined that the material is to be shipped out, the in-and-out functional block drives the elevator to move the material box out of the shelf, and drives the electric roller through the moving functional block and drives the lifting and transverse conveyor through the direction change functional block to transport the material box to the cargo buffer zone.

2. The method according to claim 1, characterized in that The motorized roller is driven by the moving functional block and the lifting and transverse conveyor is driven by the direction changing functional block, including: When it is detected that there is no material box at the feeding position of the lifting and transverse conveyor and there is a material box at the position of the electric roller feeding the lifting and transverse conveyor, the feeding roller of the lifting and transverse conveyor rotates to transfer the material box to the feeding position of the lifting and transverse conveyor, and controls the feeding roller to stop rotating; The lifting mechanism of the lifting and transverse conveyor rises from a first height to a second height, and drives the transverse motor of the lifting and transverse conveyor to work, so as to transfer the material box from the feeding position of the lifting and transverse conveyor to the discharging position of the lifting and transverse conveyor; The lifting mechanism of the lifting and transverse moving conveyor is lowered from the second height to the first height, and drives the discharge roller of the lifting and transverse moving conveyor to rotate, so that the material box is transferred to the next electric roller.

3. The method according to claim 1, characterized in that Before the in-and-out function block drives the elevator to move the material box into the shelf or the in-and-out function block drives the elevator to move the material box out of the shelf, the method further includes: Determine a first usage state of the target location in the shelf using a last usage record corresponding to the target location in the algorithm program; collecting a second usage status of the target location by a sensor installed at the target location; When both the first usage status and the second usage status indicate that the target storage location is idle, determining that the usage status of the target storage location is an idle state; When both the first usage status and the second usage status indicate that the target location is occupied, determining that the usage status of the target location is an occupied state; When the first usage status and the second usage status are inconsistent, the usage status of the target bin is determined to be an occupied status and an alarm signal is output, where the alarm signal is used to prompt a check on the status of the target bin.

4. The method according to claim 1, wherein The in-and-out function block drives the elevator to move the material box to the shelf, including: Allocating storage location numbers to all storage locations on the shelf according to the number of layers of the shelf and the order of the storage locations on each layer of the shelf; When the shelf includes an idle bin, based on the warehousing request of the target material, determining the bin to be stored for the target material; wherein the bin to be stored is the bin with the smallest bin number among all the idle bins; Determining a target storage location for the elevator to be moved based on the storage location to be stored and a preset mapping relationship, wherein the mapping relationship is a mapping relationship between the storage location number and the storage location coordinates; The storage-in and storage-out function block drives the elevator to move the material box loaded with the target material into the waiting storage location according to the target storage location; Match the material code of the target material to the storage location number corresponding to the storage location to be entered.

5. The method according to claim 4, characterized in that When it is determined that the material is to be shipped out, the in-and-out function block drives the elevator to move the material box out of the shelf, including: Obtaining a delivery request for a target material; wherein the delivery request carries the material code of the target material or the storage location number of the target material; Based on the outbound request, determine the location number of the warehouse location to be outbound on the shelf where the target material is currently located; Determining the target outbound location to which the elevator is to move according to the location number of the outbound location and the mapping relationship; The storage-in and storage-out function block drives the elevator to move the material box loaded with the target material out of the target storage position.

6. The method according to claim 1, characterized in that The electric roller is driven by the moving functional block, including: The mobile function block collects the detection signal of the material box of the current station where the electric roller is located, the detection signal of the material box of the previous station and the detection signal of the material box of the next station; When the material box detection signal of the previous station indicates that there is a material box at the previous station and the material box detection signal of the current station indicates that there is no material box at the current station, the moving function block drives the electric roller to start running; When the material box detection signal of the current station indicates that there is a material box at the current station and the material box detection signal of the next station indicates that there is no material box at the next station, the moving function block drives the electric roller to continue to operate; When the material box detection signal of the current station indicates that there is no material box at the current station and the material box detection signal of the next station indicates that there is no material box at the next station, the timer is started. When the timer reaches a preset time, the moving function block drives the electric roller to stop running.

7. The method according to claim 1, characterized in that Before driving the electric roller through the moving function block and driving the lifting and transverse conveyor through the direction changing function block, the method further includes: configuring one moving function block for each of the electric rollers, and configuring the direction changing function block for the lifting and transverse conveyor.

8. A three-dimensional warehouse in and out controller, characterized in that: The method for controlling the entry and exit of a three-dimensional warehouse according to any one of claims 1 to 7 is applied, wherein the entry and exit controller of the three-dimensional warehouse comprises: a movement function block, a direction change function block and an entry and exit function block; The moving functional block is used to drive the electric roller; The direction change function block is used to drive the lifting and transverse conveyor; The in-and-out functional block is used to drive the elevator to move the material box into the shelf, or drive the elevator to move the material box out of the shelf.

9. The control system for inbound and outbound storage of stereoscopic warehouse is characterized by: The three-dimensional warehouse in-and-out control system includes: shelves, elevators, electric roller conveyors, lifting and transverse conveyors, and the three-dimensional warehouse in-and-out controller according to claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling the entry and exit of a high-bay warehouse as described in any one of claims 1 to 7 is implemented.

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