Ring-shaped shuttle operation state monitoring system, method, device, medium and product

Abstract

The application discloses a kind of annular shuttle operation state monitoring systems, methods, equipment, medium and product, the system includes: for response to warehouse task, on annular track, the carrying operation of tray is carried out from loading section in goods receiving platform to transport section destination position is carried out by annular shuttle, for when annular shuttle enters or exits loading section, by detecting the reflection photoelectric sensor of laser positioning point of annular shuttle, access or exit information is collected, and is transmitted to controller, and for according to access or exit information, each annular shuttle operating state is detected, when detecting exception, generates the warehouse task reissue prompt instruction for target annular shuttle, by real-time exception detection, task automatic reissue and alarm, task scheduling mechanism is optimized, manual intervention is reduced, operation and maintenance cost is reduced, the continuity of operation is improved and the running efficiency, reliability, stability and adaptability of warehousing operation system.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics transportation technology, and in particular to a circular shuttle vehicle operation status monitoring system, method, equipment, medium and product. Background Technology

[0002] In warehousing and logistics transportation scenarios, circular shuttle vehicles are responsible for moving goods from the receiving platform to the designated destination to complete the outbound task. They are an important medium for modern warehousing and logistics systems to achieve automated transportation.

[0003] Ideally, the logistics transportation process of a circular shuttle can operate normally. However, in practical applications, due to the lack of status monitoring and system linkage mechanisms, this process is susceptible to abnormal interference. In existing technologies, the status monitoring and alarm of the circular shuttle rely entirely on the shuttle's standalone upper-level system. This system can only achieve basic alarm functions and does not form a data linkage with the warehouse control system.

[0004] This method of monitoring and alarming the status of the circular shuttle means that when a single alarm or task execution abnormality occurs, only a simple abnormality prompt can be provided by the single-unit upper-level system. The warehouse control system cannot automatically detect the abnormal state and still needs to rely on manual intervention to check the task status. This not only causes delays in task recovery, but also, because it cannot automatically correct abnormal tasks, causes the task flow to be unexpectedly interrupted under abnormal conditions without any relevant early warning prompts. This reduces the continuity of operations and the operating efficiency, reliability and stability of the warehouse operation system. Summary of the Invention

[0005] This invention provides a circular shuttle operation status monitoring system, method, equipment, medium, and product to solve the problems of the inability to automatically correct abnormal tasks, resulting in low operational continuity, low operating efficiency, low reliability, and low stability of the warehousing operation system.

[0006] According to one aspect of the present invention, a circular shuttle operation status monitoring system is provided, comprising: at least one circular shuttle, at least one reflective photoelectric sensor and a controller; the circular shuttle is disposed on a closed circular track, the reflective photoelectric sensor is disposed on at least one side of the loading section, and the installation height of the reflective photoelectric sensor is aligned with the laser positioning point of the circular shuttle; the controller is electrically connected to the reflective photoelectric sensor.

[0007] The circular shuttle is used to perform a transport operation on a closed circular track in response to a received outbound task, moving a pallet from a receiving station in the loading section to a destination location in the transport section.

[0008] The reflective photoelectric sensor is used to collect the entry or exit information of the circular shuttle by detecting the laser positioning point of the circular shuttle when the circular shuttle enters or exits the loading section, and transmit the entry or exit information to the controller.

[0009] The controller is used to detect the operating status of each circular shuttle car based on entry or exit information; when an abnormal operating status of the target circular shuttle car is detected, a prompt instruction to resend the outbound task for the target circular shuttle car is generated.

[0010] According to another aspect of the present invention, a method for monitoring the operating status of a circular shuttle is provided, which is executed by a controller configured in a circular shuttle operating status monitoring system, comprising:

[0011] Whenever the circular shuttle operation status monitoring system receives information on the entry or exit of the circular shuttle from a reflective photoelectric sensor located on at least one side of the loading section, it checks whether there is a circular shuttle currently in the execution state.

[0012] When there is a circular shuttle in the task status of execution, based on the information reception time corresponding to the entry or exit information of the circular shuttle, it is identified whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel in the loading section and / or transportation section.

[0013] If so, a resend prompt instruction for the outbound task of the target circular shuttle is generated so that the target circular shuttle can re-execute the most recently assigned outbound task.

[0014] According to another aspect of the present invention, a circular shuttle operation status monitoring device is provided, comprising a controller configured in a circular shuttle operation status monitoring system, including:

[0015] The detection status module is used to detect whether there is a circular shuttle currently in the execution state whenever it receives the entry or exit information of the circular shuttle from the reflective photoelectric sensor set on at least one side of the loading section in the circular shuttle operation status monitoring system.

[0016] The anomaly identification module is used to identify whether the target circular shuttle currently entering or leaving the loading section is in an abnormal operating state during its travel in the loading section and / or transportation section, based on the information reception time corresponding to the entry or exit information of the circular shuttle when there is a circular shuttle in the task status of execution.

[0017] The task resending module is used to generate a resending prompt instruction for the target circular shuttle car if the condition is met, so that the target circular shuttle car can re-execute the most recently assigned outbound task.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the circular shuttle operation status monitoring method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the circular shuttle operation status monitoring method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer program product is also provided, including computer instructions that, when executed by a processor, implement the steps of the method as described in any embodiment of the present invention.

[0022] The circular shuttle operation status monitoring system of this invention includes: at least one circular shuttle, at least one reflective photoelectric sensor, and a controller; the circular shuttle is disposed on a closed circular track, the reflective photoelectric sensor is disposed on at least one side of the loading section, and the installation height of the reflective photoelectric sensor is aligned with the laser positioning point of the circular shuttle; the controller is electrically connected to the reflective photoelectric sensor; the circular shuttle is used to perform a transport operation on the closed circular track in response to a received outbound task, moving a pallet from a receiving station in the loading section to a destination location in the transport section; the reflective photoelectric sensor is used to collect the entry or exit information of the circular shuttle by detecting the laser positioning point of the circular shuttle when the circular shuttle enters or exits the loading section, and transmit the entry or exit information to the controller; the controller is used to detect the operation status of each circular shuttle according to the entry or exit information; when an abnormal operation status of a target circular shuttle is detected, a resend prompt instruction for the outbound task of the target circular shuttle is generated. By implementing real-time anomaly detection, automatic task resending, and alarms, the task scheduling mechanism has been optimized, reducing manual intervention, lowering operation and maintenance costs, and improving the continuity of operations as well as the operational efficiency, reliability, stability, and adaptability of the warehousing operation system.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] 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.

[0025] Figure 1 This is a schematic diagram of a circular shuttle vehicle operation status monitoring system provided in Embodiment 1 of the present invention;

[0026] Figure 2 This is a scene diagram illustrating the implementation of the circular shuttle vehicle operation status monitoring in an embodiment of the present invention;

[0027] Figure 3 This is a flowchart of a method for monitoring the operating status of a circular shuttle provided in Embodiment 2 of the present invention;

[0028] Figure 4 This is a flowchart of another method for monitoring the operating status of a circular shuttle provided in Embodiment 3 of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of a circular shuttle vehicle operation status monitoring device according to Embodiment 4 of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of an electronic device for implementing the circular shuttle vehicle operation status monitoring method of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] In the existing technology, the circular shuttle system usually adopts a black box single-unit design, with the electrical control layer and the internal logic of the whole system being closed. It often only provides a limited number of external interfaces for receiving task signals and transmitting task completion signals, as well as local alarm lights or buzzers for on-site prompts.

[0035] In a normal workflow, after a pallet arrives at the station, the warehousing system issues an outbound task to the circular shuttle, which then performs the transport and marks the task as completed. However, the electrical control layer fails to provide real-time status information of the circular shuttle to the warehousing system during the operation, and it fails to issue alarm signals when a single unit jams or the path is incorrect. This causes the warehousing system to be unable to accurately grasp the true status of the tasks, mistakenly marking incomplete tasks as completed. Consequently, outbound tasks accumulate at the station, preventing subsequent pallets from entering the station, and forcing normally operating circular shuttles and other equipment to wait, reducing the efficiency and continuity of warehousing and logistics transportation. The only means of detection is manual inspection or telephone repair, which involves manually modifying the task status in the warehousing system, increasing operational complexity and task execution delays.

[0036] Figure 1 This is a schematic diagram of a circular shuttle vehicle operation status monitoring system provided in Embodiment 1 of the present invention. This embodiment is applicable to monitoring the operation status of a circular shuttle vehicle. Correspondingly, as... Figure 1 As shown, the system includes:

[0037] The system includes at least one circular shuttle 110, at least one reflective photoelectric sensor 120, and a controller 130. The circular shuttle 110 is mounted on a closed circular track, and the reflective photoelectric sensor 120 is mounted on at least one side of the loading section, with the mounting height of the reflective photoelectric sensor 120 aligned with the laser positioning point of the circular shuttle 110. The controller 130 is electrically connected to the reflective photoelectric sensor 120.

[0038] The circular shuttle 110 is used to perform a handling operation on a closed circular track in response to a received outbound task, moving a pallet from a receiving station in the loading section to a destination location in the transport section.

[0039] The reflective photoelectric sensor 120 is used to collect the entry or exit information of the circular shuttle 110 by detecting the laser positioning point of the circular shuttle 110 when the circular shuttle 110 enters or exits the loading section, and transmit the entry or exit information to the controller 130.

[0040] The controller 130 is used to detect the operating status of each circular shuttle 110 based on entry or exit information; when an abnormal operating status of the target circular shuttle 110 is detected, a resend prompt instruction for the outbound task of the target circular shuttle 110 is generated.

[0041] In this embodiment of the invention, the circular shuttle can be specifically understood as an automated handling device running on a closed-loop track, used to transport goods (such as pallets or cargo boxes) between different stations or areas. The laser positioning point can be specifically understood as a marker point installed on the circular shuttle, used to provide a detection target for the reflective photoelectric sensor, enabling the sensor to detect the entry or exit information of the circular shuttle and locate its position.

[0042] A reflective photoelectric sensor can be understood as a photoelectric sensor that senses the presence, position, or motion of an object by detecting the reflection of light. In a circular shuttle operation status monitoring system, it is used to detect the entry or exit information of the circular shuttle. A controller can be understood as a control device electrically connected to the reflective photoelectric sensor, used to receive the entry or exit information of the circular shuttle sent by the sensor, and to monitor and analyze the operating status of each circular shuttle. Specifically, it can be a programmable logic controller or an industrial computer. An electrical connection can be understood as a connection method that enables signal exchange between devices through conductors or other electrical means. Specifically, it can include wired electrical connections such as wires or interfaces, and wireless connections such as Bluetooth or Industrial Internet of Things (IIoT).

[0043] Specifically, the circular shuttle operation status monitoring system includes: at least one circular shuttle, at least one reflective photoelectric sensor, and a controller. The reflective photoelectric sensor is installed on at least one side of the loading section, such as the entry or exit side, with its installation height aligned with the laser positioning point of the circular shuttle. It is used to detect the entry or exit information of the circular shuttle and transmit the information to the controller. Based on the entry or exit information transmitted from the sensor, the controller monitors the operating status of each circular shuttle. When an abnormal operating status is detected in a target circular shuttle, a re-send prompt instruction for the exit task of the target circular shuttle is generated.

[0044] Correspondingly, in response to received outbound tasks, the circular shuttle transports pallets from the receiving station in the loading section to the destination location in the transportation section along a closed circular track. When a circular shuttle enters or exits the loading section, reflective photoelectric sensors collect entry or exit information by detecting its laser positioning point and transmit this information to the controller in real time. Based on the received entry or exit information, the controller determines the operating status of each circular shuttle. For example, it determines whether the shuttle is operating normally based on the frequency and time interval of the pulse signal. By recording the information from each time the shuttle passes the photoelectric sensor, the controller can monitor changes in the shuttle's motion status on the track. If the shuttle's motion status is continuously updated according to the expected task path and speed, it can be determined that it is in normal operating condition.

[0045] In a specific example, if the controller does not receive a new pulse signal (such as a rising edge signal) within the preset timeout threshold, it can be confirmed that the target circular shuttle may be in a timeout stagnation state or task interruption due to mechanical failure, power failure, or connection failure with the track, thus preventing it from continuing to move forward.

[0046] If the received pulse signal is abnormal, such as a sudden change in signal strength or an abnormal signal frequency, the controller can confirm that the target circular shuttle is in an abnormal operating state. For example, a sudden change in signal strength may be due to problems such as uneven track, malfunction of the shuttle's guiding device, interference from obstacles on the track, or a faulty laser positioning point, which will cause a change in the distance to the reflective photoelectric sensor, resulting in unstable reflected light intensity; an abnormal signal frequency may be due to problems such as a drive system malfunction, a sudden change in track gradient, or wheel wear, which will cause a sudden change in the shuttle's speed, exceeding the normal operating range.

[0047] Correspondingly, if the target circular shuttle is found to be in an abnormal operating state, such as timeout or task interruption, the controller will generate a resend prompt instruction for the outbound task of the target circular shuttle, so that the target circular shuttle can re-execute the most recently assigned outbound task, ensuring the continuity and smoothness of warehousing operations.

[0048] By installing reflective photoelectric sensors in the loading section and electrically connecting them to the controller, real-time monitoring of the entry and exit information of the circular shuttle can be achieved. The controller judges the operating status of the circular shuttle based on this information. When an abnormality is detected, it actively generates a prompt to resend the outbound task, enabling the system to proactively respond to faults and improving the system's response speed to abnormalities and the reliability of system operation.

[0049] Optionally, based on the above embodiments, the circular shuttle vehicle operation status monitoring system may include: two reflective photoelectric sensors, which are respectively disposed on the entry side and exit side of the loading section;

[0050] A reflective photoelectric sensor is installed on the entry side to collect the entry information of the circular shuttle by detecting the laser positioning point of the circular shuttle when it enters the loading section, and transmit the entry information to the controller.

[0051] A reflective photoelectric sensor is installed on the exit side to collect exit information of the circular shuttle by detecting the laser positioning point of the circular shuttle when it exits the loading section, and transmits the exit information to the controller.

[0052] Specifically, the circular shuttle operation status monitoring system can include two reflective photoelectric sensors, which are located on the entry and exit sides of the loading section, respectively. When the circular shuttle enters the loading section, the sensor on the entry side detects its laser positioning point and collects entry information, which is then transmitted to the controller. When the circular shuttle exits the loading section, the sensor on the exit side detects its laser positioning point and collects exit information, which is then transmitted to the controller.

[0053] Understandably, in scenarios requiring precise knowledge of vehicle entry and exit status, single-sided installation provides relatively limited information. For example, a single-sided installation on the entry side can only indicate that the vehicle has passed a certain point, but it cannot determine whether the vehicle has completely left the loading section, or its specific behavior within the section.

[0054] Dual-sided installation allows for separate monitoring as vehicles enter and exit the loading section, providing more comprehensive and accurate data. For example, a sensor on the entry side can capture real-time vehicle entry information, while a sensor on the exit side can acquire real-time information about vehicle departure. By comparing the data from the two sensors, key parameters such as the vehicle's dwell time or operating speed within the loading section can be calculated. Furthermore, even if one sensor experiences temporary interference, data from the other side can be used for verification. Dual-sided installation reduces false alarm rates and improves the overall reliability and stability of the system.

[0055] By installing reflective photoelectric sensors on both the entry and exit sides of the loading section, accurate data collection of the circular shuttle's entry and exit is achieved. Based on this information, the controller can determine the operating status of the circular shuttle. When an anomaly is detected, the system can respond promptly and take appropriate measures, such as generating an alarm signal or prompting the task to be rescheduled. This reduces the need for manual intervention, lowers the risk of subsequent process blockages caused by incorrect task status marking, and improves the continuity of operations as well as the operational efficiency, reliability, stability, and adaptability of the warehousing system.

[0056] Furthermore, based on the above embodiments, the circular shuttle operation status monitoring system may further include: a warehouse control system; the warehouse control system is electrically connected to the controller and the circular shuttle respectively;

[0057] The warehouse control system is used to identify the circular shuttle car for transporting the pallet when it detects that a pallet has been placed on the receiving station of the corresponding aisle, and to send an outbound task for the pallet to the identified circular shuttle car; and to maintain the task status of each circular shuttle car in real time, wherein the task status includes not started or in execution.

[0058] The warehouse control system is also used to trigger a prompt alarm and update the task status of the target circular shuttle to "not started" when it receives a prompt instruction from the controller to resend the outbound task for the target circular shuttle, and then trigger the target circular shuttle to re-execute the most recently assigned outbound task.

[0059] In this embodiment of the invention, the warehouse control system can be specifically understood as a control system for managing automated equipment and logistics processes within a warehouse.

[0060] Specifically, the circular shuttle operation status monitoring system may also include a warehouse control system, which is electrically connected to the controller and the circular shuttle, and is responsible for task allocation, status maintenance and anomaly handling.

[0061] Correspondingly, when a pallet is placed at the receiving station in the corresponding aisle, and the warehouse control system detects its presence, it identifies the appropriate circular shuttle from among the various circular shuttles to handle the pallet. This identification can be based on factors such as the circular shuttle's current location, task status, and task priority. An outbound task for the pallet is then sent to the identified circular shuttle.

[0062] After receiving the outbound task instruction, the circular shuttle begins the handling operation, and the warehouse control system changes the task status from "not started" to "in progress." During task execution, the warehouse control system maintains the task status of each circular shuttle in real time to ensure the accuracy of the task status.

[0063] When the controller detects an abnormal operating state of the target circular shuttle, it generates a resend command for the outbound task and sends this command to the warehouse control system. Upon receiving the resend command, the warehouse control system triggers an alarm to alert the operator to the abnormal situation and updates the task status of the target circular shuttle (e.g., in progress) to "not started," thereby triggering the target circular shuttle to re-execute the most recently assigned outbound task and ensuring that the task can continue to be completed.

[0064] By electrically connecting the warehouse control system with the controller and the circular shuttle, task allocation, status maintenance, and anomaly handling are automated. When a pallet is placed at the receiving station in the aisle, the warehouse control system can promptly detect and determine the circular shuttle to be used for handling, sending outbound task instructions to ensure efficient and accurate task execution. Simultaneously, the warehouse control system continuously maintains the task status of each circular shuttle. When the warehouse control system receives a resend instruction for an outbound task from the controller, it triggers an alarm and automatically queries and updates the task status, forcing the warehouse control system to reissue the outbound task instruction. This triggers the target circular shuttle to re-execute the task, eliminating stagnant tasks, ensuring the orderly execution of tasks and the controllability of task scheduling, reducing the time spent on task interruptions due to anomalies, and improving system reliability and overall efficiency.

[0065] Figure 2 This is a scene diagram illustrating the implementation of the circular shuttle vehicle operation status monitoring in this embodiment of the invention, such as... Figure 2 As shown, the key components of the warehousing and logistics system include: high-bay racking, conveyor lines, newly added reflective photoelectric sensors, circular shuttles, and tracks. The high-bay racking consists of multiple automated racks for storing finished product pallets. Aisles are formed between the racks, and a conveyor line is located at the bottom. Each aisle corresponds to a stacker crane responsible for pallet storage and retrieval. Below the diagram is a closed elliptical circular shuttle track, along which multiple circular shuttles (6 in the diagram) circulate in a single direction. After the stacker crane removes the pallet from the high-bay racking, it places it at the receiving station at the bottom of the aisle. The warehouse control system detects the pallet's presence, identifies the circular shuttle to handle it, and sends an outbound task for that pallet to the selected shuttle. The circular shuttle receives the pallet from the station and transports it along the circular track to the outbound exit.

[0066] The track is divided into a loading section and a transportation section. The loading section, located near the aisles of the elevated warehouse and between the newly added reflective photoelectric sensors, is where the circular shuttle receives pallets from the stacker crane in the aisle. The portion of the track excluding the loading section is the transportation section. Reflective photoelectric sensors have been added to the left and right sides of the loading section. These sensors are installed at height aligned with the laser positioning points of the circular shuttle, and are used to detect the circular shuttle's entry and exit from the loading section. The detected information is transmitted to the controller, which determines the circular shuttle's operating status based on this information and generates a resend prompt for the outbound task if necessary.

[0067] The circular shuttle operation status monitoring system of this invention includes: at least one circular shuttle, at least one reflective photoelectric sensor, and a controller; the circular shuttle is disposed on a closed circular track, the reflective photoelectric sensor is disposed on at least one side of the loading section, and the installation height of the reflective photoelectric sensor is aligned with the laser positioning point of the circular shuttle; the controller is electrically connected to the reflective photoelectric sensor; the circular shuttle is used to perform a transport operation on the closed circular track in response to a received outbound task, moving a pallet from a receiving station in the loading section to a destination location in the transport section; the reflective photoelectric sensor is used to collect the entry or exit information of the circular shuttle by detecting the laser positioning point of the circular shuttle when the circular shuttle enters or exits the loading section, and transmit the entry or exit information to the controller; the controller is used to detect the operation status of each circular shuttle according to the entry or exit information; when an abnormal operation status of a target circular shuttle is detected, a resend prompt instruction for the outbound task of the target circular shuttle is generated. By implementing real-time anomaly detection, automatic task resending, and alarms, the task scheduling mechanism has been optimized, reducing manual intervention, lowering operation and maintenance costs, and improving the continuity of operations as well as the operational efficiency, reliability, stability, and adaptability of the warehousing operation system.

[0068] Example 2

[0069] Figure 3 This is a flowchart of a method for monitoring the operating status of a circular shuttle provided in Embodiment 2 of the present invention. This embodiment is applicable to monitoring the operating status of a circular shuttle. The method can be executed by a circular shuttle operating status monitoring device, which can be implemented in hardware and / or software and is generally configured in the controller of the circular shuttle operating status monitoring system.

[0070] Correspondingly, such as Figure 3 As shown, the method includes:

[0071] S310. Whenever the circular shuttle operation status monitoring system receives information on the entry or exit of the circular shuttle from a reflective photoelectric sensor located on at least one side of the loading section, it detects whether there is a circular shuttle currently in the execution state.

[0072] Specifically, when a circular shuttle enters or exits the loading section, a reflective photoelectric sensor detects the shuttle's laser positioning point, generates corresponding entry or exit information, and transmits this information to the controller. Whenever the controller receives entry or exit information from a reflective photoelectric sensor located on at least one side of the loading section in the circular shuttle operation status monitoring system, it communicates with the warehouse control system to obtain the task status information of each circular shuttle and detects whether any circular shuttles are currently in the execution phase.

[0073] S320. When there is a circular shuttle in the task status of execution, based on the information reception time corresponding to the entry or exit information of the circular shuttle, identify whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel in the loading section and / or transportation section.

[0074] Specifically, when a circular shuttle is in the process of executing a task, its operational status needs further analysis. Whenever a reflective photoelectric sensor detects the entry or exit of a circular shuttle, this information is transmitted to the controller. Upon receiving this timestamped information, the controller compares the timestamps corresponding to the entry or exit information detected by the reflective photoelectric sensor (i.e., the information reception time) with the status of the currently executing circular shuttle. By aligning the sensor data through the timestamps, if no corresponding exit or entry information is received within a preset time threshold, or if the detected operating time exceeds a preset normal range, the controller determines that the circular shuttle is in an abnormal operating state.

[0075] Correspondingly, normal operating time ranges can be set for the loading section and the transportation section respectively. When a circular shuttle enters the loading section, and after the preset normal operating time range for the loading section has elapsed since the timestamp of receiving the entry information, if no exit information is received, it is determined that the circular shuttle may be experiencing an anomaly in the loading section due to problems in the loading process or vehicle stagnation. When a circular shuttle exits the loading section, and after the preset normal operating time range for the transportation section has elapsed since the timestamp of receiving the exit information, if no entry information for the target circular shuttle corresponding to the next outbound task is received or no task completion signal for the current task is received, it is determined that the circular shuttle may be experiencing an anomaly in the transportation section due to a malfunction in the transportation process or path obstruction. Thus, it is possible to identify whether the target circular shuttle is in an abnormal operating state during its travel within the loading section and / or transportation section.

[0076] Optionally, based on the above embodiments, identifying whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel within the loading section and / or transportation section, according to the information reception time corresponding to the entry or exit information of the circular shuttle, may include:

[0077] The entry reception time is determined based on the received entry information and matched with the task scheduling table issued by the warehouse control system to determine the task number for entering the circular shuttle.

[0078] The entry information and task number received from the entry-side reflective photoelectric sensor are combined and stored at the tail of the entry-side pulse queue.

[0079] The exit reception time is determined based on the received exit information and matched with the task scheduling table issued by the warehouse control system to determine the task number for exiting the circular shuttle.

[0080] When the task number of the exit information is inconsistent with the task number of the first element of the queue, retrieve the first element of the queue and confirm that the target circular shuttle is in an abnormal running state during its journey in the loading section.

[0081] When the difference between the current time and the entry reception time of the entry information at the head of the queue is greater than or equal to the preset maximum dwell time threshold of the loading section, and no matching exit information is received, the element at the head of the queue is retrieved to confirm that the target circular shuttle is in an abnormal operating state during its travel within the loading section.

[0082] In this embodiment of the invention, the task scheduling table can be specifically understood as a data storage structure generated and maintained by the warehouse control system for managing and allocating tasks. The task scheduling table records key information for each task, which may include: task number, task content (e.g., moving a pallet from one location to another), the assigned circular shuttle, the expected start time of the task, the expected arrival time at each reflective photoelectric sensor detection node (e.g., the entry and exit reflective photoelectric sensors), and the expected end time, etc.

[0083] The entry-side pulse queue can be understood as a data structure used to store and manage the entry information sent by the entry-side reflective photoelectric sensor when the circular shuttle enters the loading section. Each element in the queue includes the circular shuttle's entry information and task number. The entry-side pulse queue follows a first-in, first-out (FIFO) rule, meaning that new elements are added to the rear of the queue, and the element at the front is processed first.

[0084] Specifically, when the circular shuttle enters the loading section, the entry-side reflective photoelectric sensor detects the entry information and sends it to the controller. The controller determines the entry reception time based on the received entry information, matches this time with the task scheduling table issued by the warehouse control system, and determines the corresponding task number for the entering circular shuttle. Then, the entry information (including the entry reception time) and the task number are combined and stored at the tail of the entry-side pulse queue.

[0085] When the circular shuttle car exits the loading section, the exit-side reflective photoelectric sensor detects the exit information and sends it to the controller. The controller determines the exit reception time based on the received exit information and matches this time with the task scheduling table issued by the warehouse control system to determine the corresponding task number for the exiting circular shuttle car. If the task number in the exit information does not match the task number of the first element in the queue, or if the exit information does not match a corresponding task number, it indicates an anomaly. The first element in the queue is retrieved, and it is confirmed that the target circular shuttle car is operating abnormally within the loading section.

[0086] In addition, the controller calculates the difference between the current time and the entry reception time of the entry information at the head of the queue in real time or periodically. If the difference is greater than or equal to the preset maximum dwell time threshold of the loading section, and no matching exit information is received, it indicates that the circular shuttle has stayed in the loading section for too long and is in an abnormal operating state. The element at the head of the queue is then retrieved, and it is confirmed that the target circular shuttle is in an abnormal operating state in the loading section.

[0087] When the task number of the first element in the queue matches the task number in the exit information, the first element in the queue is retrieved to confirm that the circular shuttle is operating normally in the loading section.

[0088] Understandably, at the initial stage of all tasks, the loading area should be idle, with no circular shuttle vehicles stopping; that is, vehicles accepting tasks must enter through the entry-side reflective photoelectric sensor detection node. During task scheduling, the warehouse control system checks the status of the loading area to ensure it is idle. If a vehicle is detected, the system will delay task start until the area is cleared, avoiding chaos and potential collisions at the start of the task, and ensuring the accuracy and safety of task execution.

[0089] By monitoring the entry and exit information of the circular shuttle, upon receiving entry information, the entry reception time is determined and the task number is matched. The relevant information is stored in the entry-side pulse queue. When exit information is received, by matching the task number and monitoring time difference, abnormal situations such as inconsistent task numbers or excessively long dwell times can be identified in a timely manner. This confirms that the target circular shuttle is in an abnormal operating state within the loading section, reducing the need for manual intervention, lowering the risk of errors and delays, reducing maintenance costs, and improving the continuity of operations as well as the operating efficiency, reliability, stability, and maintainability of the warehousing operation system.

[0090] S330. If so, generate a resend prompt instruction for the outbound task of the target circular shuttle, so that the target circular shuttle re-executes the most recently assigned outbound task.

[0091] Specifically, when the controller determines that the target circular shuttle is in an abnormal operating state based on the timestamps corresponding to the entry or exit information, it will generate a prompt instruction to resend the outbound task for the target circular shuttle, triggering the target circular shuttle to re-execute the most recently assigned outbound task.

[0092] Understandably, when there are no active circular shuttles with a task status of execution, the system will not generate a prompt to resend the outbound task even if abnormal entry or exit information is detected. This is because there are no active tasks that need to be re-executed at this time; it may simply be the system in a normal idle state when there are no tasks, or it may be due to other non-task-related interference or false detection.

[0093] Furthermore, based on the above embodiments, after generating the resend prompt instruction for the outbound task of the target circular shuttle, it may further include:

[0094] Send a resend notification command for the outbound task of the target circular shuttle to the warehouse control system. This will trigger an alarm and update the target circular shuttle's task status to "not started," after which the target circular shuttle will re-execute the most recently assigned outbound task; and / or

[0095] The method further includes: when the number of times the resend prompt instruction for outbound task is generated within a preset time range is greater than or equal to a preset resend number threshold, an alarm instruction is generated and sent to the warehouse control system so that the warehouse control system can generate an abnormal warning.

[0096] Specifically, when the controller detects that the target circular shuttle is in an abnormal operating state, it generates a resend prompt instruction for the outbound task and sends it to the warehouse control system. After receiving the instruction, the warehouse control system will trigger a prompt alarm and update the task status of the target circular shuttle to "not started" so that the target circular shuttle can be re-triggered to re-execute the most recently assigned outbound task, ensuring that the task can continue to be completed and reducing the impact on overall logistics efficiency.

[0097] The controller also monitors the number of times a resend prompt for outbound tasks is generated within a preset time range. When this number is greater than or equal to a preset resend threshold, it indicates a serious anomaly, and the system will generate an alarm command and send it to the warehouse control system. Upon receiving the alarm command, the warehouse control system generates an anomaly warning, which can be displayed to prompt operators to intervene through sound, light, or a graphical interface, so as to promptly investigate and resolve the problem and prevent the system from remaining in an abnormal state for an extended period.

[0098] By sending a resend prompt instruction for outbound tasks to the warehouse control system after generation, the system triggers an alarm, promptly alerting operators to abnormal situations. Simultaneously, the system automatically updates the target circular shuttle's task status to "not started," triggering the shuttle to re-execute the most recently assigned outbound task. This reduces task interruption time due to anomalies, improving system reliability and overall efficiency. Furthermore, when the number of resend prompt instructions generated within a preset time frame reaches or exceeds a preset resend threshold, the system generates an alarm instruction and sends it to the warehouse control system. This prompts the control system to issue an anomaly warning, preventing the system from remaining in an abnormal state for extended periods, further enhancing system stability and operational efficiency.

[0099] The technical solution of this invention involves detecting whether a circular shuttle currently in a task execution state exists whenever the circular shuttle operation status monitoring system receives entry or exit information from a reflective photoelectric sensor located on at least one side of the loading section. When a circular shuttle in a task execution state exists, the system identifies whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel within the loading section and / or transportation section, based on the information reception time corresponding to the circular shuttle's entry or exit information. If so, a resend prompt instruction for the target circular shuttle's outbound task is generated, so that the target circular shuttle re-executes the most recently assigned outbound task. By installing reflective photoelectric sensors on at least one side of the loading section, the system can capture the entry and exit information of the circular shuttle in real time. The system can detect whether there is a circular shuttle currently executing a task. When there is, it can identify whether the target circular shuttle is abnormal in the loading section and / or transportation section by combining the information reception time. If abnormal, it will automatically generate a prompt to resend the outbound task, so that the target shuttle can re-execute the most recent task. This ensures that the warehouse control system can detect the abnormal operating status of the circular shuttle in a timely manner, reduce manual intervention, reduce operation and maintenance costs, improve task recovery efficiency, avoid task backlog that blocks subsequent processes, and improve the continuity of logistics operations as well as the operating efficiency, reliability, stability and adaptability of the warehouse operation system.

[0100] Example 3

[0101] Figure 4 This is a flowchart of another method for monitoring the operating status of a circular shuttle provided in Embodiment 3 of the present invention. This embodiment is a refinement of the above embodiment's "identifying whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel within the loading section and / or transportation section, based on the information reception time corresponding to the entry or exit information of the circular shuttle." Specifically, it may include: determining the exit reception time based on the received exit information, matching it with the task scheduling table issued by the warehouse control system, and determining the task number of the exiting circular shuttle; and storing the exit information sent by the exit-side reflective photoelectric sensor and the task number in a combined format. Exit the tail of the side pulse queue; determine the entry reception time based on the received entry information, match it with the task scheduling table issued by the warehouse control system, and determine the task number of the entering circular shuttle; when the task number of the entry information does not match the task number of the first element of the queue, remove the first element of the queue and confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section; when the difference between the current time and the exit reception time of the exit information at the first end of the queue exceeds the preset maximum passage time threshold of the transportation section, and no matching entry information is received, remove the first element of the queue and confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section.

[0102] Correspondingly, such as Figure 4 As shown, the method includes:

[0103] S410. Whenever the circular shuttle operation status monitoring system receives information on the entry or exit of a circular shuttle from a reflective photoelectric sensor located on at least one side of the loading section, it detects whether there is a circular shuttle currently in the execution state.

[0104] S420. When there is a circular shuttle with a task status of execution, determine the exit reception time based on the received exit information, match it with the task scheduling table issued by the warehouse control system, and determine the task number of the exiting circular shuttle.

[0105] S430: Combine the exit information and task number received from the exit-side reflective photoelectric sensor and store them at the tail of the exit-side pulse queue.

[0106] In this embodiment of the invention, the exit-side pulse queue can be specifically understood as a data structure used to store and manage the exit information sent by the exit-side reflective photoelectric sensor when the circular shuttle exits the loading section. Each element in the queue includes the exit information of the circular shuttle and the task number. The exit-side pulse queue adopts a first-in, first-out (FIFO) rule, that is, new elements are added to the tail of the queue, and the element at the head of the queue is processed first.

[0107] S440. Determine the entry reception time based on the received entry information, match it with the task scheduling table issued by the warehouse control system, and determine the task number for entering the circular shuttle.

[0108] S450. When the task number of the incoming information is inconsistent with the task number of the first element of the queue, retrieve the first element of the queue and confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section.

[0109] Specifically, when the circular shuttle car leaves the loading section and enters the transportation section, the exit-side reflective photoelectric sensor detects the exit information and sends it to the controller. The controller determines the exit reception time based on the received exit information and matches it with the task scheduling table issued by the warehouse control system to determine the task number for the exiting circular shuttle car. The exit information sent by the exit-side reflective photoelectric sensor and the corresponding task number are combined and stored at the tail of the exit-side pulse queue.

[0110] When a circular shuttle car leaves the transport section and enters the loading section (corresponding to the situation where the circular shuttle car has completed its current transport task and is subsequently assigned the next outbound task), the entry-side reflective photoelectric sensor detects the entry information and sends it to the controller. The controller determines the entry reception time based on the received entry information and matches it with the task scheduling table issued by the warehouse control system to determine the task number of the entering circular shuttle car. If the task number in the entry information does not match the task number of the first element in the queue, or if the entry information does not match a corresponding task number, it indicates an anomaly. The first element in the queue is then retrieved, and the abnormal operating status of the target circular shuttle car within the transport section is confirmed.

[0111] When the task number of the incoming information matches the task number of the first element in the queue, retrieve the first element in the queue and confirm that the target circular shuttle is operating normally within the transportation section.

[0112] S460. When the difference between the current time and the exit reception time of the queue head exit information exceeds the preset maximum passage time threshold of the transportation section, and no matching entry information is received, the queue head element is retrieved to confirm that the target circular shuttle vehicle is in an abnormal operating state during its travel within the transportation section.

[0113] The controller calculates the difference between the current time and the exit reception time of the first element in the exit pulse queue in real time or periodically. If this difference exceeds the preset maximum travel time threshold of the transport section, and no matching entry information or completion signal of the current task is received, it indicates that the circular shuttle has been traveling for too long in the transport section and is in an abnormal operating state. The first element of the queue is retrieved, and the abnormal operating state of the target circular shuttle in the transport section is confirmed.

[0114] S470. If the system is in an abnormal operating state, a resend prompt instruction for the outbound task of the target circular shuttle is generated so that the target circular shuttle can re-execute the most recently assigned outbound task.

[0115] The technical solution of this invention involves setting reflective photoelectric sensors on at least one side of the loading section to capture the entry or exit information of a circular shuttle in real time. The system can then detect whether a circular shuttle is currently performing a task. When such a shuttle exists, the exit and entry information captured by the reflective photoelectric sensors on the exit and entry sides are matched with the task scheduling table of the warehouse control system to determine the corresponding task number. The exit information and task number are then combined and stored at the tail of the exit-side pulse queue. When the task number of the entry information does not match the task number of the element at the head of the queue, the system can promptly identify the transportation section. If the target circular shuttle's operating status is abnormal, the system retrieves the first element of the queue to confirm the abnormal operation of the target circular shuttle during its journey within the transportation section. If the difference between the current time and the exit reception time of the queue's exit information exceeds the preset maximum passage time threshold for the transportation section, and no matching entry information is received, the system can promptly identify the target circular shuttle's timeout anomaly within the transportation section, retrieve the first element of the queue, and confirm the abnormal operation of the target circular shuttle during its journey within the transportation section. If an anomaly is detected, a resend command for the outbound task is automatically generated, causing the target shuttle to re-execute its most recent task. Through automatic association of sensor information and task numbers, automatic queue management, automatic anomaly detection, and automatic task resend mechanism, the warehouse control system ensures that it can promptly detect abnormal operating statuses of the circular shuttle, reducing manual intervention, lowering maintenance costs, improving task recovery efficiency, preventing task backlog from blocking subsequent processes, and improving the continuity of logistics operations as well as the operational efficiency, reliability, stability, and adaptability of the warehouse operation system.

[0116] Example 4

[0117] Figure 5 This is a schematic diagram of a circular shuttle vehicle operation status monitoring device provided in Embodiment 4 of the present invention. Figure 5 As shown, the device includes: a status detection module 510, an anomaly identification module 520, and a task resending module 530, wherein:

[0118] The detection status module 510 is used to detect whether there is a circular shuttle currently in the execution state whenever it receives the entry or exit information of the circular shuttle from the reflective photoelectric sensor set on at least one side of the loading section in the circular shuttle operation status monitoring system.

[0119] The anomaly identification module 520 is used to identify, when there is a circular shuttle with a task status of execution, whether the target circular shuttle currently entering or leaving the loading section is in an abnormal operating state during its travel in the loading section and / or transportation section, based on the information reception time corresponding to the entry or exit information of the circular shuttle.

[0120] The task resending module 530 is used to generate a resending prompt instruction for the outbound task of the target circular shuttle if the condition is met, so that the target circular shuttle can re-execute the most recently assigned outbound task.

[0121] The technical solution of this invention involves detecting whether a circular shuttle currently in a task execution state exists whenever the circular shuttle operation status monitoring system receives entry or exit information from a reflective photoelectric sensor located on at least one side of the loading section. When a circular shuttle in a task execution state exists, the system identifies whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel within the loading section and / or transportation section, based on the information reception time corresponding to the circular shuttle's entry or exit information. If so, a resend prompt instruction for the target circular shuttle's outbound task is generated, so that the target circular shuttle re-executes the most recently assigned outbound task. By installing reflective photoelectric sensors on at least one side of the loading section, the system can capture the entry and exit information of the circular shuttle in real time. The system can detect whether there is a circular shuttle currently executing a task. When there is, it can identify whether the target circular shuttle is abnormal in the loading section and / or transportation section by combining the information reception time. If abnormal, it will automatically generate a prompt to resend the outbound task, so that the target shuttle can re-execute the most recent task. This ensures that the warehouse control system can detect the abnormal operating status of the circular shuttle in a timely manner, reduce manual intervention, reduce operation and maintenance costs, improve task recovery efficiency, avoid task backlog that blocks subsequent processes, and improve the continuity of logistics operations as well as the operating efficiency, reliability, stability and adaptability of the warehouse operation system.

[0122] Furthermore, based on the above embodiments, the circular shuttle vehicle operation status monitoring device may further include:

[0123] The prompt instruction module is used to send a prompt instruction to the warehouse control system after generating a prompt instruction for re-sending the outbound task for the target circular shuttle. This prompt instruction triggers an alarm and updates the task status of the target circular shuttle to "not started," thereby triggering the target circular shuttle to re-execute the most recently assigned outbound task; and / or

[0124] The alarm instruction module is used to generate an alarm instruction and send it to the warehouse control system when the number of times the resend prompt instruction for outbound task is generated within a preset time range is greater than or equal to the preset resend number threshold, so that the warehouse control system can generate an abnormal warning.

[0125] Based on the above embodiments, the anomaly identification module 520 is specifically used for:

[0126] The entry reception time is determined based on the received entry information and matched with the task scheduling table issued by the warehouse control system to determine the task number for entering the circular shuttle.

[0127] The entry information and task number received from the entry-side reflective photoelectric sensor are combined and stored at the tail of the entry-side pulse queue.

[0128] The exit reception time is determined based on the received exit information and matched with the task scheduling table issued by the warehouse control system to determine the task number for exiting the circular shuttle.

[0129] When the task number of the exit information is inconsistent with the task number of the first element of the queue, retrieve the first element of the queue and confirm that the target circular shuttle is in an abnormal running state during its journey in the loading section.

[0130] When the difference between the current time and the entry reception time of the entry information at the head of the queue is greater than or equal to the preset maximum dwell time threshold of the loading section, and no matching exit information is received, the element at the head of the queue is retrieved to confirm that the target circular shuttle is in an abnormal operating state during its travel within the loading section.

[0131] Based on the above embodiments, the anomaly identification module 520 is further configured to:

[0132] The exit reception time is determined based on the received exit information and matched with the task scheduling table issued by the warehouse control system to determine the task number for exiting the circular shuttle.

[0133] The exit information and task number received from the exit-side reflective photoelectric sensor are combined and stored at the tail of the exit-side pulse queue.

[0134] The entry reception time is determined based on the received entry information and matched with the task scheduling table issued by the warehouse control system to determine the task number for entering the circular shuttle.

[0135] When the task number of the incoming information does not match the task number of the first element in the queue, retrieve the first element in the queue and confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section.

[0136] When the difference between the current time and the exit reception time of the exit information at the head of the queue exceeds the preset maximum passage time threshold of the transportation section, and no matching entry information is received, the element at the head of the queue is retrieved to confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section.

[0137] The circular shuttle operation status monitoring device provided in this embodiment of the invention can execute the circular shuttle operation status monitoring method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0138] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0139] Example 5

[0140] Figure 6 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0141] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0142] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0143] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the circular shuttle operation status monitoring method, namely:

[0144] Whenever the circular shuttle operation status monitoring system receives information on the entry or exit of the circular shuttle from a reflective photoelectric sensor located on at least one side of the loading section, it checks whether there is a circular shuttle currently in the execution state.

[0145] When there is a circular shuttle in the task status of execution, based on the information reception time corresponding to the entry or exit information of the circular shuttle, it is identified whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel in the loading section and / or transportation section.

[0146] If so, a resend prompt instruction for the outbound task of the target circular shuttle is generated so that the target circular shuttle can re-execute the most recently assigned outbound task.

[0147] In some embodiments, the circular shuttle operation status monitoring method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the circular shuttle operation status monitoring method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the circular shuttle operation status monitoring method by any other suitable means (e.g., by means of firmware).

[0148] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0150] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0151] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0152] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0153] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0154] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0155] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A circular shuttle vehicle operation status monitoring system, characterized in that, include: At least one circular shuttle, at least one reflective photoelectric sensor and controller; A circular shuttle is mounted on a closed circular track. A reflective photoelectric sensor is mounted on at least one side of the loading section, and the mounting height of the reflective photoelectric sensor is aligned with the laser positioning point of the circular shuttle. The controller is electrically connected to the reflective photoelectric sensor. The circular track is divided into a loading section and a transportation section. The circular shuttle is used to perform a transport operation on a closed circular track in response to a received outbound task, moving a pallet from a receiving station in the loading section to a destination location in the transport section. The reflective photoelectric sensor is used to collect the entry or exit information of the circular shuttle by detecting the laser positioning point of the circular shuttle when the circular shuttle enters or exits the loading section, and transmit the entry or exit information to the controller. The controller is used to detect the operating status of each circular shuttle car based on entry or exit information; when an abnormal operating status of the target circular shuttle car is detected, a resend prompt instruction for the outbound task of the target circular shuttle car is generated. The system includes two reflective photoelectric sensors, which are respectively disposed on the entry side and exit side of the loading section; A reflective photoelectric sensor is installed on the entry side to collect the entry information of the circular shuttle by detecting the laser positioning point of the circular shuttle when it enters the loading section, and transmit the entry information to the controller. A reflective photoelectric sensor is installed on the exit side to collect exit information of the circular shuttle by detecting the laser positioning point of the circular shuttle when the circular shuttle exits the loading section, and transmit the exit information to the controller. The controller is further configured to: determine the entry reception time based on the received entry information, match it with the task schedule table issued by the warehouse control system, and determine the task number of the entering circular shuttle; store the entry information and task number received from the entry-side reflective photoelectric sensor in combination at the tail of the entry-side pulse queue; determine the exit reception time based on the received exit information, match it with the task schedule table issued by the warehouse control system, and determine the task number of the exiting circular shuttle; when the task number of the exit information is inconsistent with the task number of the first element of the queue, retrieve the first element of the queue and confirm that the target circular shuttle is in an abnormal operating state during its travel in the loading section; when the difference between the current time and the entry reception time of the entry information at the first end of the queue is greater than or equal to the preset maximum dwell time threshold of the loading section, and no matching exit information is received, retrieve the first element of the queue and confirm that the target circular shuttle is in an abnormal operating state during its travel in the loading section.

2. The system according to claim 1, characterized in that, The system also includes: a warehouse control system; the warehouse control system is electrically connected to the controller and the circular shuttle car respectively; The warehouse control system is used to identify the circular shuttle car for transporting the pallet when it detects that a pallet has been placed on the receiving station of the corresponding aisle, and to send an outbound task for the pallet to the identified circular shuttle car; and to maintain the task status of each circular shuttle car in real time, wherein the task status includes not started or in execution. The warehouse control system is also used to trigger a prompt alarm and update the task status of the target circular shuttle to "not started" when it receives a prompt instruction from the controller to resend the outbound task for the target circular shuttle, and then trigger the target circular shuttle to re-execute the most recently assigned outbound task.

3. A method for monitoring the operating status of a circular shuttle vehicle, characterized in that, The method, executed by a controller configured in the circular shuttle operation status monitoring system as described in any one of claims 1-2, comprises: Whenever the circular shuttle operation status monitoring system receives information on the entry or exit of the circular shuttle from a reflective photoelectric sensor located on at least one side of the loading section, it checks whether there is a circular shuttle currently in the execution state. When there is a circular shuttle in the task status of execution, based on the information reception time corresponding to the entry or exit information of the circular shuttle, it is identified whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel in the loading section and / or transportation section. If so, a resend prompt instruction for the outbound task of the target circular shuttle is generated so that the target circular shuttle can re-execute the most recently assigned outbound task.

4. The method according to claim 3, characterized in that, After generating the resend prompt instruction for the outbound task of the target circular shuttle, it also includes: The method further includes: sending a resend prompt instruction for the outbound task of the target circular shuttle to the warehouse control system, so that the warehouse control system can trigger a prompt alarm and update the task status of the target circular shuttle to "not started", and then trigger the target circular shuttle to re-execute the most recently assigned outbound task; and / or the method further includes: when the number of outbound task resend prompt instructions generated within a preset time range is greater than or equal to a preset resend number threshold, generating an alarm instruction and sending it to the warehouse control system, so that the warehouse control system can generate an abnormal warning.

5. The method according to claim 3, characterized in that, Based on the information reception time corresponding to the entry or exit information of the circular shuttle, identify whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel within the loading section and / or transportation section, including: The entry reception time is determined based on the received entry information and matched with the task scheduling table issued by the warehouse control system to determine the task number for entering the circular shuttle. The entry information and task number received from the entry-side reflective photoelectric sensor are combined and stored at the tail of the entry-side pulse queue. The exit reception time is determined based on the received exit information and matched with the task scheduling table issued by the warehouse control system to determine the task number for exiting the circular shuttle. When the task number of the exit information is inconsistent with the task number of the first element of the queue, retrieve the first element of the queue and confirm that the target circular shuttle is in an abnormal running state during its journey in the loading section. When the difference between the current time and the entry reception time of the entry information at the head of the queue is greater than or equal to the preset maximum dwell time threshold of the loading section, and no matching exit information is received, the element at the head of the queue is retrieved to confirm that the target circular shuttle is in an abnormal operating state during its travel within the loading section.

6. The method according to claim 3, characterized in that, Based on the information reception time corresponding to the entry or exit information of the circular shuttle, identify whether the target circular shuttle currently entering or exiting the loading section is in an abnormal operating state during its travel within the loading section and / or transportation section, including: The exit reception time is determined based on the received exit information and matched with the task scheduling table issued by the warehouse control system to determine the task number for exiting the circular shuttle. The exit information and task number received from the exit-side reflective photoelectric sensor are combined and stored at the tail of the exit-side pulse queue. The entry reception time is determined based on the received entry information and matched with the task scheduling table issued by the warehouse control system to determine the task number for entering the circular shuttle. When the task number of the incoming information does not match the task number of the first element in the queue, retrieve the first element in the queue and confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section. When the difference between the current time and the exit reception time of the exit information at the head of the queue exceeds the preset maximum passage time threshold of the transportation section, and no matching entry information is received, the element at the head of the queue is retrieved to confirm that the target circular shuttle is in an abnormal operating state during its journey within the transportation section.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 3-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the method of any one of claims 3-6.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method according to any one of claims 3-6.

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