Scheme design and scheduling method for cooperative operation of vertical grid control stacker and AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a vertical grid control stacker and AGV collaborative operation scheme design and scheduling method, which comprises the following steps of configuring a goods shelf structure and a roadway layout of a stereoscopic warehouse, and designing structures and operation sizes of a stacker and an AGV; aGV walking tracks are arranged in the stereoscopic warehouse area, function types are defined, the passing direction is defined, and width parameters and numbers are designed; planning relative layout of roadways and goods shelves; designing a parking method, a receiving method and an avoiding method of the no-load AGV in the stereoscopic warehouse area; defining a vertical lattice, configuring a locking attribute, defining a locking release rule, and defining a size relation requirement; setting the attributes of the vertical lattice pointers of the AGV and the stacker; designing an AGV main road walking stand grid scheduling method; designing an AGV auxiliary road walking standing grid scheduling method; and designing a stand-grid scheduling method when the stacker executes warehouse-in and warehouse-out tasks. The technical problem of how to effectively improve the system processing capacity is solved.

Description

Technical Field

[0001] This invention relates to the field of logistics system design and scheduling technology, specifically to the design and scheduling method of collaborative operation schemes between Ligge control stacker cranes and AGVs. Background Technology

[0002] For automated warehouse stacker crane and AGV collaborative operation systems, in situations where there is a large volume of inbound and outbound traffic in the racking area and limited space in the inbound and outbound areas, how to lay out and schedule the stacker crane and AGV system directly affects the system's processing capacity.

[0003] Current mainstream automated warehouse stacker crane and AGV collaborative operation system designs include: racking options of beam type or cantilever type; stacker cranes using a top-and-bottom rail forklift design; and AGVs of various types such as forklift, low-profile lifting, and back roller. Inbound operations involve AGVs delivering goods to one or both ends of the first floor of the racking area → transfer via the conveyor system → stacker crane receiving and storing the goods. Outbound operations involve stacker cranes delivering goods to one or both ends of the first floor of the racking area → transfer via the conveyor system → AGV system receiving and outbound. Existing solutions suffer from insufficient stacker crane inbound / outbound capacity, limited operating space in the AGV inbound / outbound areas, frequent node congestion and detours, and a lack of significant capacity improvement with further increases in AGV numbers after reaching a certain threshold, resulting in low system processing capacity. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems by providing a design and scheduling method for a collaborative operation scheme between a stacker crane and an AGV controlled by Ligge, thus solving the technical problem of how to effectively improve the system's processing capacity.

[0005] The technical solution of the present invention is as follows: The design and scheduling method for collaborative operation of stacker cranes and AGVs controlled by Ligge includes the following steps: Constructing the infrastructure of an automated warehouse: configuring the racking structure and aisle layout of the automated warehouse, and designing the structure and operating dimensions of the stacker cranes and AGVs; Setting up the walkways and layout of the automated warehouse: Set up AGV walkways in the automated warehouse area, define the function type, define the passage direction, design the width parameters and numbering; plan the relative layout of aisles and racks; Develop a scheduling method for empty AGVs: Design the stopping method, receiving method, and obstacle avoidance method for empty AGVs in the automated warehouse area; Define grid and equipment attributes: Define grid, configure locking attributes, define lock release rules, define dimensional relationship requirements; set grid pointer attributes for AGV and stacker crane; Develop a grid-based scheduling method for AGV movement: Design a grid-based scheduling method for the main AGV path; Design a grid-based scheduling method for the auxiliary AGV path. Establish a grid scheduling method for stacker cranes: Design a grid scheduling method for stacker cranes when performing inbound and outbound tasks.

[0006] Furthermore, the racking structure and aisle layout of the configured automated warehouse include: Set up a three-dimensional coordinate system: the stacker crane's travel direction is the X-axis, from the origin to the reverse origin is the positive X-axis; the horizontal plane perpendicular to the X-axis is the Y-axis, and rotating the positive X-axis counterclockwise by 90 degrees is the positive Y-axis; the vertical lifting direction is the Z-axis, from bottom to top is the positive Z-axis; System access unit configuration: The access unit is the material, which can be pallet-based or boxed material. The three-dimensional dimensions of the material are defined as a cuboid during storage. , , ; The automated warehouse is configured with the following information: aisle numbers, stacker crane numbers, rack arrangement layer numbers, storage location numbers, and AGV numbers: aisles are numbered sequentially starting from #1 along the positive Y-axis; stacker crane numbers are the same as aisle numbers; rack row numbers are numbered sequentially starting from #1 along the positive Y-axis, with two rows on each side for a single aisle extension, and four rows on each side for a double extension; rack column numbers are numbered sequentially starting from #1 along the positive X-axis; rack layer numbers are numbered sequentially starting from #0 along the positive Z-axis, with layer #0 being the layer for unloaded AGVs, and layers #1 and above used for storing and retrieving materials; storage location numbers are determined by the arrangement layer numbers; AGVs are numbered sequentially starting from #1. The shelving structure, function, and dimensions are as follows: Level 1 is the inbound / outbound level, with the Y-axis of the storage location using a cantilever structure to support the materials; Level 2 and above are storage levels, which can be cantilevered or beam-type. The design of the 1st floor is enhanced, and a cantilever beam structure is added to the X-axis of the racks on both sides of the aisle between the storage materials on the 1st floor and the 2nd floor. Stacker crane side rails are then installed on top, forming a double-side rail guide system. The width of the single-sided cantilever beam + guide rail in the Y-axis is defined as follows: The height from the bottom surface of the Z-axis to the bottom surface of the 2nd floor is defined as follows: ; The shelf height boundaries are the ground, the bottom surface of the stored materials on each shelf, and the top surface of the shelf, which are respectively set as follows: , ...; the three-dimensional dimensions of the storage location are as follows: , , .

[0007] Furthermore, the design of the stacker crane and AGV's structure and operating dimensions includes: The stacker crane uses a side-mounted overhead rail forklift structure, mounted above the first level of the racking system. The overhead rail is the secondary rail responsible for Y-axis correction; the side rails are the main rails for load-bearing and X-axis guidance. The forks can pick up goods from the second level and above, and can also reach down to the first level for pickups. The retracted fork length is [not specified]. The forklift height at the storage location is ; The AGV adopts a submerged lifting structure. When turning within the rack area, only the vehicle body rotates, while the lifting mechanism does not rotate. After lowering and retracting, the vehicle height is less than the height of rack level 0 minus the stacker crane's forklift height. An unloaded AGV can move freely on rack level 0 as long as no other AGVs are obstructing its path, unaffected by the stacker crane forklifting materials on rack level 1. When lifting to carry goods, the vehicle height is greater than rack level 0, allowing it to enter and exit empty storage locations on rack level 1 in the Y direction. When a loaded AGV travels within the aisle, it does not interfere with other AGVs if the stacker crane is operating on rack level 2 or above, or on rack level 1 not on the path of other AGVs. Otherwise, if the stacker crane is operating on rack level 1 on the path of the AGV, they will interfere with each other. The three dimensions of the vehicle body are as follows: , , , .

[0008] Furthermore, the setting of AGV walkways in the automated warehouse area, defining the function type, defining the passage direction, and designing the width parameters and numbering include: The AGV walkways in the automated warehouse area are intersecting roads on the ground that can be used for AGV movement, including: the cargo aisle under the X-axis racks, the aisle where the stacker crane is located, the open aisle with sufficient width between back-to-back racks in adjacent aisles, as well as the interrupted aisle between racks in the Y-axis and the auxiliary cargo aisle under the racks. Define function type: The AGV is divided into main lanes and auxiliary lanes based on its direction of travel: the main lane is the X-direction travel lane, which is the main passageway for the AGV, including cargo lanes, aisles and empty lanes; the auxiliary lane is the Y-direction travel lane, which is the passageway for the AGV when switching to the main lane, including interrupt lanes and auxiliary cargo lanes. Functionally, they are divided into empty lanes and loaded lanes: empty lanes are dedicated to empty AGVs, including cargo lanes and auxiliary cargo lanes, and the Z-direction is limited by the height of layer 0; loaded lanes are dedicated to loaded AGVs, including alleyways, empty lanes, interrupted lanes, and auxiliary cargo lanes without materials on layer 1, and the Z-direction has sufficient height. Define the direction of travel: the main lane and the intermediate lane are one-way lanes, and lanes with the same one-way function are grouped together in opposite directions; the auxiliary freight lane is a two-way lane. Design width parameters and numbering: The widths of the X-direction walkway are: cargo lane width The alley is wide , width of the passage ; The X-direction walkway is sequentially numbered starting from 1# along the positive Y-direction, with the row number being y# and the row number being... ; The widths of the Y-direction walkway are as follows: Interruption width Wide auxiliary cargo aisles ; The Y-direction walkway is sequentially numbered from 1# along the positive X-direction, with column number x# and number of columns. ; Furthermore, the relative layout of the planned aisles and shelves: Based on inventory and processing capacity requirements, the following models are planned: Mode 1: Single-extension aisle with empty aisle, lowest inventory, highest processing capacity; X-direction aisles and adjacent empty aisles are grouped in opposite directions, Y-direction bidirectional passage under the storage location is sufficient, no interruption passage is required; Mode 2: Single-span roadway without empty lanes, moderate inventory, and moderate processing capacity; adjacent roadways in the X direction are grouped in opposite directions, and it is recommended to set fewer interrupted lanes in the Y direction; Mode 3: Double-extension roadways without empty lanes have the highest inventory and the lowest processing capacity; adjacent roadways in the X direction are grouped in opposite directions, and more interrupted lanes are required in the Y direction.

[0009] Furthermore, the method for scheduling idle AGVs includes: Stopping method: After the AGV loads goods at the pick-up and drop-off point of the cargo channel, its status becomes empty and it only occupies the position of the 0# layer of the cargo cell, stopping in place; Receiving method: A dynamic material AGV dispatching method is adopted, which detects at a fixed frequency and dispatches by cargo lane. Material is dispatched according to the principle of finding the nearest and farthest material in the upward direction. When unreceived outbound materials are detected in the cargo lane, empty AGVs are dynamically allocated to receive them in the upward direction of the cargo lane picking point first, so as to avoid other empty AGVs that have just unloaded in the cargo lane blocking the way and requiring them to catch up. If there are no available empty AGVs in the cargo lane, empty AGVs are dispatched to receive the materials from the downward direction of the current cargo lane, other cargo lanes, or inbound / outbound cargo lanes according to the principle of finding the nearest and farthest material in the downward direction of the current cargo lane. Avoidance method: When an empty AGV blocks a cargo AGV that needs to move in the Y direction, the empty AGV can be moved down one node position. Furthermore, the definition of the grid, configuration of locking attributes, definition of locking and releasing rules, and definition of dimensional relationship requirements include: Define a 3D cell with the intersection node of the AGV movement as the center of the bottom surface, and define it as a 3D grid. Define the grid name according to the plane column number and row number coordinate position. ; Define whether layer 1# is locked using the integer attribute lock1: lock1=-2 indicates that it is not locked, lock1=-1 indicates that it is locked by the material at the access point, lock1=0 indicates that it is locked by the stacker crane, and lock1>0 indicates that it is locked by the corresponding AGV. Define whether layer 0# is locked using the integer attribute lock0: lock0=-2 indicates that it is not locked, lock0>0 indicates that it is locked by the corresponding AGV number; the current material location of layer 1# and the current stacker crane in the aisle picking up or placing material of layer 1# will not lock lock0; When a cargo AGV needs to occupy a cell while moving, it simultaneously checks lock0 and lock1. If both are -2, the cell can be occupied and locked, and lock0>0 and lock1>0 are assigned. When leaving the cell, lock0=-2 and lock1=-2 are assigned. When an unloaded AGV needs to occupy a certain grid while moving, it checks lock0. If lock0 = -2, the AGV can occupy the grid and lock it, then set lock0 > 0. When leaving the grid, the AGV releases the grid and sets lock0 = -2. When the stacker crane loads materials and arrives at the 2nd level of the outbound aisle, it checks the current aisle and storage compartments on the 1st level of the column. If lock1 is -2 for both, the stacker crane can occupy the compartments and locks them, setting lock1=0. After the materials are released, the stacker crane's forks retract to the 1st level position, releasing the materials and occupying the storage compartments on the 1st level, setting lock1=-1. If there are materials that need to be stored in the opposite storage location, the stacker crane occupies the opposite storage compartment to retrieve the materials; otherwise, it returns to the 2nd level and releases the storage compartments on the 1st level, setting lock1=-2. When the stacker crane arrives at the 2nd level of the inbound aisle with no material, it simultaneously checks the aisle grids and cargo bays of the current 1st level aisle. If lock1=-2 for the aisle grid grid and lock1=-1 for the cargo bay grid, the stacker crane can occupy the space, locking both grids and setting lock1=0. After retrieving the material, the stacker crane's forks retract to the 1st level aisle position, releasing the material and occupying the 1st level cargo bay grid, setting lock1=-2. After returning to the 2nd level, it releases the 1st level aisle grid grid and sets lock1=-2. A cargo aisle or lane may be locked by both a stacker crane and an unloaded AGV. When the stacker crane is operating on level 1 in the Z direction, the lock1 attribute of the locked column is 0. When the unloaded AGV is traveling on level 0, the lock0 attribute of the locked column is >0, so there is no conflict.

[0010] Dimensional relationship requirements: The three dimensions of the ligature are as follows: , , , , ; quantity is ; The minimum three-dimensional device spacing is defined as follows: , , The dimensional relationships in three dimensions are as follows: ; ; ; ; ; ; ; ; ; ; when When available, the air lane is usable; otherwise The air lane is unavailable; ; ; ; ; ; .

[0011] Furthermore, the setting of the AGV and stacker crane pointer attributes includes: Set the AGV grid pointer attribute: scc points to the current cell; scls is the list of cells locked while moving; scb is the cell that is blocked. Set the stacker crane grid pointer attributes: scl1s is the list of aisle and cargo lane grids locked when the forks pass through layer 1; scb1 is the aisle or cargo lane grid locked by the cargo AGV. Furthermore, the design of the AGV main path walking grid scheduling method includes: Detection is performed at a fixed frequency, based on the current travel distance on the main road. Maximum walking speed Real-time walking speed acceleration deceleration Using the grid as the smallest unit, the system detects whether any grids are locked along the route as it moves downwards in the direction of travel. The detection distance that can be calculated using the uniform addition and subtraction formula to accelerate to the maximum speed and then decelerate to a stop is... The number of cells to be inspected along the downward path is calculated by rounding up the cell size. and the number of cubicles required The calculation formula is as follows:

[0012]

[0013] in, This refers to the dimensions in the direction of movement of the rectifier; Will go down Each cell is defined as a list of downlink cells. The lock1 and lock0 attributes are checked sequentially to see if they are equal to -2. The cell lock release rules are used to determine if any cell has been locked by other devices. If there is no locked grid, it is defined as a normally moving AGV. If it is locked by the current AGV, add 1#~n# to the AGV_scls attribute list; for empty AGVs, modify the grid lock0 attribute to AGV number (>0); for loaded AGVs, modify the grid lock1 and lock0 attributes to AGV number (>0) and move normally. If a cell is locked, it is defined as an AGV that is obstructed from moving. The sequence number i# is recorded and the detection is stopped in time. The scb attribute points to the locked cell i#. Cells 1# to (i-1)# are added to the AGV_scls attribute list, and the lock1 or lock0 attribute of the cell is modified. If the scls attribute list is not empty, it goes to cell (i-1)# in the scls attribute list. If the scls attribute list is empty, it means that the AGV has not started moving and the next cell 1# to move has been locked. It waits in place. When the AGV leaves the current grid, update the scc attribute, release the grid from the scls attribute in time, and reset the lock1 and lock0 attributes of the released grid to -2.

[0014] According to the fixed frequency detection, when the AGV, stacker crane and the material being carried leave a certain cell, if there is an AGV or stacker crane that needs to occupy the current cell, the target cell of the blocked AGV or stacker crane will be updated in time and the movement will be started.

[0015] Furthermore, the design of the AGV auxiliary lane walking grid scheduling method includes: When there are no materials in the auxiliary cargo channel grid #1, the grid lock1 attribute is -2, allowing cargo-carrying AGVs to pass; when there are materials in the grid #1, the grid lock1 attribute is -1, disallowing cargo-carrying AGVs to pass. Empty AGVs that need to change lanes or loaded AGVs that have received goods from the warehouse need to enter the main lane in the Y direction. If the target main lane is locked, they need to wait for it to be released before entering; otherwise, they can enter directly. For cargo AGVs that need to switch from a non-receiving lane to a main lane, they should first enter the passable grid of the non-receiving lane in the Y direction. If the grid of the target main lane is locked, they should wait for it to be released before entering; otherwise, they should enter directly.

[0016] Furthermore, the Ligge scheduling method for stacker cranes performing inbound and outbound tasks includes: Loading method in the same row: When loading goods, the stacker crane only performs lifting and picking operations in the same row, and can pick up and put goods in both rows of storage positions on the left and right sides of the aisle; when entering the warehouse, the stacker crane's empty forks go down to the 1st layer of the same row to pick up the goods, and then rise vertically in the Z direction to the 2nd layer or above to put the goods in for storage; when leaving the warehouse, the stacker crane picks up the goods in the 2nd layer or above, and then descends vertically in the Z direction to the 1st layer to put the goods in. Z-axis downward movement through layer 1: Initially, the unloaded stacker crane always rests at layer 2 or above. First time period: Upon receiving a pick-up / place-out task, the stacker crane first moves in the X direction to the current column; in an inbound task, the forks descend in parallel Z-axis to layer 2; in an outbound task, the forks rise and fall in parallel Z-axis to the outbound layer to pick up the goods; after picking up the goods at layer 3 or above, it descends vertically to layer 2. Second time period: The forks descend in Z-axis to layer 1 to complete the pick-up / place-out operation. Third time period: The loaded crane is lifted in Z-axis to layer 2. If it is an outbound task, the task is completed and the crane rests; if it is an inbound task, it continues to rise vertically towards the target layer or places the goods at layer 2, continuing the subsequent tasks. Stacker crane scheduling method for automated warehouse area: When the stacker crane enters or leaves the warehouse, it first arrives at the 2nd floor of the same column as the pick-up / placement point and immediately requests the grids on the 1st floor of the main aisle and the cargo aisle where the pick-up / placement point is located. According to the grid lock and release rules, if it detects that any grid in the aisle or cargo aisle is locked, it waits. If both grids are not locked, the stacker crane locks the two grids, adds them to the stacker crane's scls attribute list, sets the grid lock1 attribute to 0, and the forks pass down through the 1st floor to perform the pick-up / placement operation. After completion, the forks are raised to the 2nd floor of the same column, and the two locked grids are released, setting the grid lock1 attribute to -2.

[0017] Compared with existing technologies, the advantages of this invention are: This design utilizes a side-standing stacker crane and a low-profile AGV (Automated Guided Vehicle), with scheduling based on a grid control system. This achieves smooth collaborative operation of the stacker crane and AGV across different spaces within the automated warehouse area. Compared to racking systems with only one or two entry / exit points, the stacker crane's entry / exit capacity is significantly improved, with the capacity increase drastically with fewer storage layers. The AGV system's operating space extends to the entire automated warehouse area, and further additions can be made after reaching a certain number, resulting in a steady increase in processing capacity and a substantial reduction in node congestion and detours. This achieves the goal of significantly improving system processing capacity. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the method described in this application.

[0019] Figure 2 The first 40 columns are top-view schematic diagrams of the configuration of the automated warehouse area in this application.

[0020] Figure 3This is a front view schematic diagram of the configuration of the automated warehouse area in this application.

[0021] Figure 4 This is a side view of the configuration of the automated warehouse area in this application. Detailed Implementation

[0022] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0023] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0024] Please see Figure 1-4 The design and scheduling method of collaborative operation scheme between stacker cranes and AGVs controlled by Ligge, such as Figure 1 As shown, it includes the following steps: Constructing the infrastructure of an automated warehouse: configuring the racking structure and aisle layout of the automated warehouse, and designing the structure and operating dimensions of the stacker cranes and AGVs; The racking structure and aisle layout of an automated warehouse include: Set up a 3D coordinate system: The stacker crane's traveling direction is defined as the X-axis, with the X-direction being from the origin to the reverse origin; the horizontal plane perpendicular to the X-axis is defined as the Y-axis, with the X-direction rotated 90 degrees counterclockwise as the Y-direction; the vertical lifting direction is defined as the Z-axis, with the Z-direction being from bottom to top. Configure system access unit: The system's storage unit is defined as a material, which can be either pallet-borne or box-packed. The three-dimensional dimensions of the material are defined as a cuboid during storage. , , Given the design structure of the stacker crane in this system, the weight should not be too heavy, and it is recommended not to exceed 600 kg.

[0025] Set the aisle number, stacker crane number, racking layer number, storage location number, and AGV number for the automated warehouse: The aisles of the automated warehouse are for stacker cranes, numbered sequentially from #1 along the positive Y-axis. If there is only one stacker crane in an aisle, the stacker crane number is the same as the aisle number. Shelf rows are numbered sequentially from #1 along the positive Y-axis. If an aisle is a single-extension aisle with one row on each side (two rows total), then aisle #1 is associated with rows 1-2, and aisle #2 is associated with rows 3-4. If an aisle is a double-extension aisle with two rows on each side (four rows total), then aisle #1 is associated with rows #1... Rows 1 through 4 are connected to shelving units, and aisle 2 is connected to shelving units 5 through 8. Shelving column numbers are sequentially numbered from 1# along the positive X direction. For example, if there are 100 columns, they are numbered from column 1# to column 100#. Shelving layer numbers are sequentially numbered from 0# along the positive Z direction. Layer 0# is the AGV walking layer and does not store or retrieve materials. Layers 1# and above store and retrieve materials. For example, if there are 5 layers, they are numbered from layer 0# to layer 5#. The storage location number is determined by the shelving layer number. For example, storage location is on layer 4# in row 20#.

[0026] AGVs are numbered sequentially starting from #1; Configure the shelving structure, function, and dimensions: The first level of the shelving is the inbound and outbound level. The Y-axis of the storage location uses a cantilever structure to support the materials, so that the empty AGV leaves in the Y-axis after picking up the goods, or the loaded AGV enters and exits the empty storage location of the first level in the Y-axis. The second level and above are storage levels, which are only used for normal picking by stacker cranes. Depending on the shape of the materials, they can be designed as cantilever or beam. The shelving unit #1 is heightened. A cantilever beam structure is added along the X-axis from the storage area on #1 to #2 within the aisle. Stacker crane side rails are then mounted on these cantilever beams, creating a double-side rail guide system with double-row, double-column, four-wheel operation. The Y-axis width of the single-side cantilever beam + guide rail (Path) is defined as... The height from the bottom surface of the Z-axis to the bottom surface of the 2nd floor is defined as follows: ; The shelf height boundaries are the ground, the bottom surface of the stored materials on each shelf, and the top surface of the shelf, which are respectively set as follows: , ...; the three-dimensional dimensions of a stock keeping unit are defined as follows: , , .

[0027] The design of the stacker crane and AGV's structure and operating dimensions includes: Configure the stacker crane's structure, function, and dimensions: The stacker crane adopts a side-mounted overhead rail fork structure, erected above the first level of the racking system. The overhead rail is the secondary rail, responsible for Y-axis correction; the side rails are the main rails, responsible for load-bearing and X-axis guidance. The forks can pick up goods from the second level and above, as well as from the first level. The fork retraction length (Fork) is defined as... The forklift retrieval height of the storage location is defined as follows: ; Setting the AGV structure, function, and dimensions: The AGV adopts a submerged lifting structure. When moving and turning within the rack area, only the vehicle body rotates; the lifting mechanism does not rotate when empty or loaded. After lowering and retracting, the vehicle height is less than the rack's 0# layer height minus the stacker crane's forklift height. An empty AGV can move freely on rack 0# without being obstructed by other AGVs, unaffected by the stacker crane retrieving materials from rack 1#. When lifting and loading, the vehicle height is greater than rack 0# layer height, allowing access to empty rack 1# locations in the Y direction. When a loaded AGV is moving within the aisle while a stacker crane is operating on rack 2# or higher, or on rack 1# outside the AGV's path, they do not interfere with each other. Otherwise, if the stacker crane is operating on rack 1# within the AGV's path, they will interfere with each other. The three dimensions of the vehicle body are defined as follows: , , (Downward movement) (Vehicle lift up).

[0028] In the automated warehouse area, AGV walkways are set up, defining their function types, travel directions, and designing width parameters and numbering, including: Define function type: In terms of direction, it is divided into main lanes and auxiliary lanes: the main lane is the X-direction travel lane, which is the main passage for AGVs to travel, including the cargo lane (under the rack), the aisle (under the stacker crane travel aisle), and the empty lane (the outer side of the aisle has enough width for AGVs to travel between racks back to back); the auxiliary lane is the Y-direction travel lane, which is the passage for AGVs to travel when switching to the main lane, including the interrupted lane and the auxiliary cargo lane. Functionally, they are divided into empty lanes and loaded lanes: empty lanes are dedicated to empty AGVs, including cargo lanes and auxiliary cargo lanes, and the Z-direction is limited by the height of layer 0; loaded lanes are dedicated to loaded AGVs, including alleyways, empty lanes, interrupted lanes, and auxiliary cargo lanes without materials on layer 1, and the Z-direction has sufficient height. Define the direction of travel: The X-direction main road is designed as a one-way road, with two adjacent empty lanes traveling in opposite directions. Similarly, two adjacent truck lanes travel in opposite directions. In the Y-direction auxiliary road, all interrupted connection channels are designed as one-way cargo truck lanes. Each interrupted connection area has sufficient width to allow for the design of two adjacent cargo truck lanes with opposite directions of travel. The passages below the cargo positions are all designed as two-way lanes, which can be used as empty lanes or cargo truck lanes when there are no goods in the cargo positions on the 1st floor. Design width parameters and numbering: The widths of the X-direction walkways are as follows: Rackway width The lane is wide. Emptyway width ; The X-direction walkway is sequentially numbered starting from 1# along the positive Y-direction, with column number y# and row number y#. ; The widths of the Y-direction aisles are as follows: (Break way width) Auxiliary aisles are the width of the storage space. ; The Y-direction walkway is sequentially numbered from 1# along the positive X-direction, with column number x# and number of columns. ; The relative layout of aisles and shelving includes: Set up the aisle racking layout. Based on inventory requirements, design whether the aisles are single-extension or double-extension, and whether sufficient aisle width is required. There are three main aisle racking layout models: Mode 1: Single-extension aisle with empty lane, lowest inventory, highest system processing capacity; two cargo lanes in the X-direction aisle are grouped as empty lanes, traveling in opposite directions; the aisle and adjacent empty lanes are grouped as loaded cargo lanes, traveling in opposite directions; bidirectional passages below the Y-direction cargo positions, both empty AGVs can pass, while loaded AGVs only need to pass through the column where the material is picked up or placed; the proportion of empty material columns on level 1 is very large, bidirectional passages are sufficient, and interrupted passages are not required; Mode 2: Single-aisle aisle without empty aisles, moderate inventory, and moderate system processing capacity; two cargo aisles in the X-direction aisle are grouped as empty aisles with opposite directions of travel; two adjacent aisles are grouped as loaded cargo aisles with opposite directions of travel; bidirectional passage under the Y-direction storage location, both empty AGVs can pass through, and loaded AGVs need to pass through a maximum of two adjacent rows of shelves continuously. Compared with Mode 1, the probability of two adjacent rows of shelves on the same level 1 being empty at the same time is reduced, so it is recommended to set fewer interrupted connection channels. Mode 3: Double-aisle layout without empty aisles, highest inventory capacity, lowest system processing capacity; Double-aisle layouts are not designed with empty aisles, and the rear rack level 0, far from the aisle, is also used for material storage. Only the front rack level 0, closest to the aisle, is used as the entry / exit point; In the X-axis aisle, two aisles on each side are grouped as empty aisles, traveling in opposite directions; Adjacent aisles are grouped as loaded aisles, traveling in opposite directions; The Y-axis bidirectional passage under the storage location allows both empty and loaded AGVs to pass. Because the rear racks store materials, they cannot be used as loaded aisles, and loaded AGVs cannot pass through, requiring more interrupted connection channels.

[0029] The methods for scheduling idle AGVs include: Stopping method: After the AGV loads goods at the pick-up and drop-off point of the cargo channel, its status becomes empty and it only occupies the position of the 0# layer of the cargo cell, stopping in place; Receiving Method: A dynamic material dispatching method is adopted, namely, fixed-frequency detection and dispatching based on the cargo lane as a unit. Material is dispatched according to the principle of finding the nearest vehicle from the furthest uphill distance. When unreceived materials are detected in the cargo lane, empty AGVs are dynamically allocated to the uphill direction of the pickup point in the cargo lane to receive them, avoiding situations where other empty AGVs that have just unloaded their goods are blocking the way and need to catch up. For example, if the fixed frequency is set to 1 second, and at time 30 seconds there are empty AGV #1, AGV #2 loading goods, and material #1 requesting to be dispatched in the cargo lane along the walking direction: at time 1... (30 seconds) - At a fixed frequency, material #1 is detected requesting to receive goods. The material is then sent to the empty AGV #1 to receive the goods. The empty AGV #1 starts moving before receiving the goods. Time point 2 (34.5 seconds) - AGV #2 completes delivery and becomes empty. Time point 3 (35 seconds) - At a fixed frequency, material #1 is dynamically sent to the closer empty AGV #2 to receive the goods. The empty AGV #1 is released to receive other materials or slows down and stops. This avoids the situation where the empty AGV #1 driving the stopped empty AGV #2 to receive the goods.

[0030] If there are no available empty AGVs in the cargo lane, empty AGVs will be dispatched from the current cargo lane in the downward direction, other cargo lanes, or inbound / outbound cargo lanes according to the principle of distance from near to far.

[0031] Avoidance method: When an empty AGV blocks a cargo AGV that needs to travel in the Y direction, the empty AGV can be moved down one node position. For example, in the single-lane mode without an empty lane, lane 1 and lane 2 are defined as negative movement, and lane 2 is defined as positive movement. When the empty AGV 2 is stopped at column 10 of lane 2, there is no material at this pick-up / placement point. When AGV 1 is picking up and leaving the warehouse at column 10 of lane 3, the empty AGV 2 is scheduled to start moving in the negative direction to column 9 of lane 2, and then the cargo AGV 1 starts moving in the negative Y direction through the auxiliary lane to column 10 of lane 1, and then moves in the negative direction to leave the warehouse.

[0032] Define the grid, configure locking attributes, define lock release rules, and define dimensional relationship requirements, including: AGV walkways intersect to form nodes. The AGVs and the materials they carry occupy a three-dimensional space at these nodes. Considering the different number of Z-axis layers and heights occupied when there is no load, a three-dimensional cell (Stereo Cell) is defined with the intersection node of the AGV walkway as the center of its bottom surface. .

[0033] Define the grid name according to the plane column number and row number coordinate position. For example, column 30# and row 5# are defined as SC(30,5).

[0034] Based on whether the passage for cargo is locked and whether the cargo-carrying AGV can pass through, define the integer attribute lock1 for whether the 1# layer of Ligge is locked: lock1=-2 indicates that it is not locked, lock1=-1 indicates that it is locked by the material at the storage point, lock1=0 indicates that it is locked by the stacker crane, and lock1>0 indicates that it is locked by the corresponding numbered AGV. Based on whether no goods are locked and whether empty AGVs can pass through, the integer attribute lock0 is defined to indicate whether layer 0# is locked: lock0=-2 indicates that it is not locked, lock0>0 indicates that it is locked by the corresponding numbered AGV; the current material in layer 1# and the current stacker crane in the aisle picking up or putting down material in layer 1# will not lock lock0; therefore, lock0 will not be =-1 or 0.

[0035] When a cargo AGV needs to occupy a cell while moving, it simultaneously checks lock0 and lock1. If both are -2, the cell can be occupied and locked, and lock0>0 and lock1>0 are assigned. When leaving the cell, lock0=-2 and lock1=-2 are assigned. When an unloaded AGV needs to occupy a certain grid while moving, it checks lock0. If lock0 = -2, the AGV can occupy the grid and is locked. The lock0 value is set to 0 (AGV number). When the AGV leaves the grid, it releases the grid and sets lock0 = -2. When the stacker crane loads materials and arrives at the 2nd level of the outbound aisle, it checks the current aisle and the storage grid on the 1st level of the column. If lock1 is -2 for both, the stacker crane can occupy the storage grid and locks the two grids, setting lock1=0. After the materials are released, the stacker crane's forks retract to the 1st level position, releasing the materials and occupying the storage grid on the 1st level, setting lock1=-1. If there are materials that need to be stored in the opposite storage location, the stacker crane occupies the opposite storage grid to retrieve the materials. Otherwise, after returning to the 2nd level, it releases the storage grid on the 1st level of the aisle and sets lock1=-2. When the stacker crane arrives at the 2nd level of the receiving aisle with no material, it simultaneously checks the aisle and the storage compartment of the current 1st level aisle. If the aisle compartment lock1=-2 and the storage compartment lock1=-1 (occupied by material), the stacker crane can occupy the compartment and lock both compartments, setting lock1=0. After retrieving the material, the stacker crane forks retract to the 1st level aisle position, releases the material from the storage compartment of the 1st level storage compartment, and sets lock1=-2. After returning to the 2nd level, it releases the storage compartment of the 1st level aisle and sets lock1=-2. Dimensional relationship requirements: The three dimensions of the lattice are defined as follows: , (Out of stock, Empty) (Cargo Load) , ; quantity is ; The minimum three-dimensional device spacing is defined as follows: , , The dimensional relationships in three dimensions are as follows: ; ; ; ; ; ; ; ; ; ; when When available, the air lane is usable; otherwise The air lane is unavailable; ; ; ; ; ; .

[0036] Setting the pointer attributes for AGVs and stacker cranes includes: Set the AGV grid pointer attribute: Define the grid along the AGV's traveling direction based on its relative position: Current cell (scc): Points to the cell where the AGV is currently located; Locked grid list scls: The list of grids locked by the traveling AGV along the traveling direction, including scc; for picking and placing goods at the stop position, only one grid is locked; for resting AGVs at the stop position, the grid is empty and not locked. Block (SCB): This refers to a block that obstructs the movement of the AGV along its direction of travel. Set the stacker crane pointer properties: Locked cell list scl1s: When the stacker crane forks begin to pass down to the 1st floor for inbound / outbound operations, two cells in the same column of the aisle and the pick / place location are locked simultaneously; empty when operating on the 2nd floor and above. Blocking Grid SCB1: When a stacker crane is about to go down to the 1st floor for inbound and outbound operations, the blocking grid is locked by a cargo AGV; if there is an empty AGV traveling in the Y direction at this location, it will not affect the locking. The design of the AGV main track movement grid scheduling method includes: Detection is performed at a fixed frequency, based on the current travel distance on the main road. Maximum walking speed Real-time walking speed (Current Velocity) acceleration deceleration Using the grid as the smallest unit, the system detects whether any grids are locked along the route as it moves downwards in the direction of travel. The detection distance that can be calculated using the uniform addition and subtraction formula to accelerate to maximum speed and then decelerate to a stop is [not specified]. The number of cells to be inspected along the downward path is calculated by rounding up the cell size. and the number of cubicles required The calculation formula is as follows:

[0037]

[0038] in, This refers to the dimensions in the direction of movement of the rectifier; Will go down Each cell is defined as a list of downlink cells. The lock1 or lock0 attribute is checked sequentially to see if it is equal to -2. The cell lock release rule is used to determine if any cell has been locked by other devices. If there is no locked grid, it is defined as a normally moving AGV. If it is locked by the current AGV, add 1#~n# to the AGV_scls attribute list; for empty AGVs, modify the grid lock0 attribute to AGV number (>0); for loaded AGVs, modify the grid lock1 and lock0 attributes to AGV number (>0) and move normally. If a cell is locked, it is defined as an AGV that is obstructed from moving. The sequence number i# is recorded and the detection is stopped in time. The scb attribute points to the locked cell i#. Cells 1# to (i-1)# are added to the AGV_scls attribute list, and the lock1 or lock0 attribute of the cell is modified. If the scls attribute list is not empty, it goes to cell (i-1)# in the scls attribute list. If the scls attribute list is empty, it means that the AGV has not started moving and the next cell 1# to move has been locked. It waits in place. When the AGV leaves the current grid, update the scc attribute, release the grid from the scls attribute in time, and reset the lock1 and lock0 attributes of the released grid to -2.

[0039] According to the fixed frequency detection, when the AGV, stacker crane and the material being carried leave a certain cell, if there is an AGV or stacker crane that needs to occupy the current cell, the target cell of the blocked AGV or stacker crane will be updated in time and the movement will be started.

[0040] The design of AGV auxiliary lane movement grid scheduling methods includes: When there are no materials in the auxiliary cargo channel grid #1, the grid lock1 attribute is -2, allowing cargo-carrying AGVs to pass; when there are materials in the grid #1, the grid lock1 attribute is -1, disallowing cargo-carrying AGVs to pass. Empty AGVs that need to change lanes or loaded AGVs that have received goods from the warehouse need to enter the main lane in the Y direction. If the target main lane is locked, they need to wait for it to be released before entering; otherwise, they can enter directly. For cargo AGVs that need to switch from a non-receiving lane to a main lane, they should first enter the passable grid of the non-receiving lane in the Y direction. If the grid of the target main lane is locked, they should wait for it to be released before entering; otherwise, they should enter directly.

[0041] The Ligge scheduling method for stacker cranes performing inbound and outbound tasks includes: Loading method in the same row: When loading goods, the stacker crane only performs lifting and picking operations in the same row, and can pick up and put goods in both rows of storage positions on the left and right sides of the aisle; when entering the warehouse, the stacker crane's empty forks go down to the 1st layer of the same row to pick up the goods, and then rise vertically in the Z direction to the 2nd layer or above to put the goods for storage; when leaving the warehouse, the stacker crane picks up the goods in the 2nd layer or above, and then descends vertically in the Z direction to the 1st layer to put the goods; Z-axis downward movement through layer 1: Initially, the unloaded stacker crane always rests at layer 2 or above. First time period: Upon receiving a pick-up / place-out task, the stacker crane first moves in the X direction to the current column; in an inbound task, the forks descend in parallel Z-axis to layer 2; in an outbound task, the forks rise and fall in parallel Z-axis to the outbound layer to pick up the goods; after picking up the goods at layer 3 or above, it descends vertically to layer 2. Second time period: The forks descend in Z-axis to layer 1 to complete the pick-up / place-out operation. Third time period: The loaded crane is lifted in Z-axis to layer 2. If it is an outbound task, the task is completed and the crane rests; if it is an inbound task, it continues to rise vertically towards the target layer or places the goods at layer 2, continuing the subsequent tasks. Stacker crane scheduling method for automated warehouse area: When the stacker crane enters or leaves the warehouse, it first arrives at the 2nd floor of the same column as the pick-up / placement point and immediately requests the grids on the 1st floor of the main aisle and the cargo aisle where the pick-up / placement point is located. According to the grid lock and release rules, if it detects that any grid in the aisle or cargo aisle is locked, it waits. If both grids are not locked, the stacker crane locks the two grids, adds them to the stacker crane's scls attribute list, sets the grid lock1 attribute to 0, and the forks pass down through the 1st floor to perform the pick-up / placement operation. After completion, the forks are raised to the 2nd floor of the same column, and the two locked grids are released, setting the grid lock1 attribute to -2.

[0042] In another specific embodiment, the following steps are included: Define a three-dimensional coordinate system. Figure 2 , Figure 3 , Figure 4 The diagrams show the top, front, and side views of the configuration of the automated warehouse area. A three-dimensional coordinate system is defined: the west end of the automated warehouse area is defined as the origin, and the east end is defined as the reverse origin. Thus, the positive X direction is from west to east, the positive Y direction is from south to north, and the positive Z direction is from bottom to top.

[0043] Define the system access unit. The system access unit is a plastic flat pallet that supports 2 rows, 2 columns, and 3 layers of cardboard boxes containing materials. The three dimensions are as follows: , , .

[0044] Design the aisle racking layout. The aisle racking layout is Mode 1, with a single extended aisle and an open aisle. Open aisles are set on both the north and south sides of the automated warehouse.

[0045] Define the aisle number, stacker crane number, racking layer number, storage location number and dimensions, and AGV number for the automated warehouse. The automated warehouse has 5 single-extension aisles in the Y direction, with only one stacker crane configured in each aisle, and 10 rows of racking on each side; the X direction contains 4 racking sections, each occupying 2 column widths, for a total of 100 columns. Figure 2 Only the first 40 columns of the layout are displayed; there are 5 layers in the Z direction, with a total of 3680 storage locations [=10*(100-4*2)*4], and 920 inbound and outbound points on layer 1 [=10*(100-4*2)]; a total of 20 AGVs are configured.

[0046] The aisles are numbered sequentially from Y to Y, from 1# to 5#, and the stacker cranes are numbered the same as the aisles; the rack rows are numbered sequentially from Y to Y, from 1# to Y, from 1# to Y, from 1# to Y, from 1# to Y, from 1# to Y, from 100#, where columns 20# to Y, 40# to Y, 60# to Y, and 80# to Y, are rack cut-off aisles; the rack layers are numbered sequentially from Z to Z, from 0# ...

[0047] The AGVs are numbered sequentially from 1# to 20#.

[0048] Design the shelving structure and dimensions. All five shelves utilize a cantilever structure; the shelf heights are as follows: , , , The total height is 9m; the three dimensions of the storage space are as follows: , , .

[0049] Design the structure and dimensions of the stacker crane. The stacker crane adopts a side-mounted rail fork structure, with the width of the single-side support leg on each side rail being [missing information]. ,high Fork retraction length Fork height .

[0050] Design the AGV structure and dimensions. The AGV adopts a submerged lifting structure, and its XY direction switching is achieved by rotating the vehicle 90 degrees after it has traveled and stopped at the intersection point before resuming steering. The three-dimensional dimensions of the vehicle body are defined as follows: , , , .

[0051] Define the number and width of AGV walkways in the automated warehouse area. There are a total of 21 rows of walkways in the X direction, with the following widths: walkway width... The alley is wide , width of the passage Excluding the inbound and outbound areas, there are a total of 100 Y-axis aisles, with widths as follows: width of the interrupted aisle of the shelving. The aisle below the storage location is the width of the storage location. .

[0052] Define the dimensions and quantity of the cubicle. The three-dimensional dimensions of the cubicle are defined as follows: , , , , ; quantity is indivual.

[0053] The minimum three-dimensional device spacing is as follows , , The embodiments satisfy various three-dimensional dimensional relationships.

[0054] For details on the design of AGV walkway directions in the automated warehouse area, please refer to [link / reference]. Figure 1 .

[0055] In the X direction, two empty AGVs travel in pairs along the same lane 1. For example, if an empty AGV stopped at SC(1,2) needs to go to SC(10,4), it first travels in the X direction of lane 2 to SC(10,2), and then travels in the Y direction to its destination. If an empty AGV stopped at SC(19,2) needs to go to SC(10,4), it first travels in the Y direction to SC(19,4), and then travels in the X direction of lane 4 to its destination.

[0056] The cargo AGV determines its travel lane or empty lane based on the inbound / outbound direction. It travels in the positive X direction along the adjacent empty lane and in the negative X direction along the adjacent lane. For example, if a cargo AGV is leaving SC(10,8) to return to the origin, it first travels in the negative Y direction to SC(10,7), then exits via lane #7. If leaving to the reverse origin, it first travels in the positive Y direction to SC(10,9), then exits via lane #9. A cargo AGV needing to enter SC(10,20) from the origin first travels in the positive X direction via lane #21 to SC(10,21), then travels in the negative Y direction to its destination. A cargo AGV needing to enter SC(10,20) from the reverse origin first travels in the negative X direction via lane #19 to SC(10,19), then travels in the positive Y direction to its destination.

[0057] When the goods are received from the origin end and shipped out from the reverse origin end: Row 1 uses only the No. 1 empty aisle; Rows 2 and 3 share the No. 2 empty aisle; Rows 4 and 5 share the No. 3 empty aisle; Rows 6 and 7 share the No. 4 empty aisle; Rows 8 and 9 share the No. 5 empty aisle; Row 10 uses only the No. 6 empty aisle.

[0058] Set the equipment operating parameters and detection frequency, as detailed in Table 1.

[0059] Table 1 Equipment Operating Parameters

[0060] Calculate the time required for the stacker crane to occupy the storage compartment for picking and placing goods. One cycle includes the time it takes for the stacker crane forks to descend from layer 2 to layer 1. Y-direction pickup and delivery cycle time Time to ascend from floor 1 to floor 2 Since the lifting / lowering parameters are the same for both empty and loaded loads, therefore .

[0061] The calculation is based on the formula for uniform acceleration and deceleration, calculated according to the stacker crane stopping position, starting from layer 2 for descent or lifting to layer 2 for stopping. ; .

[0062] In other words, a stacker crane occupies one independent storage space for picking and placing goods. .

[0063] Calculate the distance occupied by the AGV main path for the LiGe detection. and the number of detectors along the downlink route The calculation results are as follows: When the AGV stops and starts Longest, detection time Number of Ligge Passing on the Downward Path One; when the AGV travels at its highest speed. Shortest detection time Number of Ligge Passing on the Downward Path indivual.

[0064] In other words, the number of detector cells passed by the AGV during its downward movement. Between 4 and 7.

[0065] Design a method for dynamic material dispatching and vehicle finding for empty AGVs in an automated warehouse area.

[0066] Example: At time 30 seconds, in the #2 delivery lane, there is an empty #1 AGV [SC(1,2)], a #2 AGV [SC(8,2)] currently releasing goods, and a #1 material requesting delivery [SC(10,2)]. At time 1 (30 seconds) – the system detects a request for material #1 to receive goods at a fixed frequency. The system detects the material requesting delivery in the lane and assigns it to the empty #1 AGV for delivery. The #1 AGV moves down through 7 grids, with the #2 AGV occupying the last grid. The #1 AGV occupies the first 6 grids and is added to the scls list. The scb pointer points to SC(8,2). At time 2 (34.5 seconds), AGV #2 completes delivery and becomes empty; at time 3 (35 seconds), a fixed-frequency detection dynamically allocates material #1 to the closer empty AGV #2 for delivery. Since there are no obstructing AGVs on its downward path, AGV #2 starts moving towards the delivery point [SC(10,2)], releasing the empty AGV #1. At this time, AGV #1 is decelerating after half of its travel time, so its target point remains unchanged. It stops at SC(7,2) and clears the scb pointer attribute. This completes a dynamic material-finding and scheduling process.

[0067] Process flow requirements.

[0068] The example shows a layout with inbound and outbound ports at both ends, and the process flow requirements are shown in Table 2.

[0069] Table 2 Process Flow Table

[0070] The processing capability of the 3D simulation modeling verification system was tested.

[0071] Using 3D simulation software, simulation models were created for three possible scenarios: one-end entry / exit, two-end entry / exit, and entry / exit on the first floor of the shelf, as well as Ligge control. The simulation results are shown in Table 3.

[0072] Table 3 Simulation Conclusions

[0073] Solution design and scheduling optimization results: The optimal utilization rate of the logistics system subsystems should be controlled within the range of 80% to 90%. Table 3 shows that: in the one-end inbound / outbound solution, the stacker crane utilization rate is close to 100%, and the AGV system utilization rate far exceeds 100%; in the two-end inbound / outbound solution, the stacker crane utilization rate far exceeds 100%, and the AGV system, with a larger number of units, has a suitable utilization rate. Neither solution meets the system's processing capacity requirements.

[0074] For the first-level racking inbound / outbound and LiGG control scheme, the optimal utilization rate of both the stacker crane and AGV system is controlled within the range of 80% to 90%. Compared with the previous two schemes, the stacker crane capacity increased by 13.6% and 60.5% respectively; the AGV system, due to the expanded operating space, although traveling a longer distance, also significantly reduced node congestion and detours. Compared with the previous two schemes, the single AGV capacity increased by 21.7% and 22.8% respectively, and the AGV system capacity increased by 102.9% and 2.3% respectively.

[0075] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A design and scheduling method for collaborative operation of stacker cranes and AGVs controlled by Ligge, characterized in that, Includes the following steps: Constructing the infrastructure of an automated warehouse: configuring the racking structure and aisle layout of the automated warehouse, and designing the structure and operating dimensions of the stacker cranes and AGVs; Setting up the walkways and layout of the automated warehouse: Set up AGV walkways in the automated warehouse area, define the function type, define the passage direction, design the width parameters and numbering; plan the relative layout of aisles and racks; Develop a scheduling method for empty AGVs: Design the stopping method, receiving method, and obstacle avoidance method for empty AGVs in the automated warehouse area; Define grid and equipment attributes: Define grid, configure locking attributes, define lock release rules, and define dimensional relationship requirements; Set the pointer properties for AGV and stacker crane; Develop a grid-based scheduling method for AGV movement: Design a grid-based scheduling method for the main AGV path; Design a grid-based scheduling method for the auxiliary AGV path. Establish a grid scheduling method for stacker cranes: Design a grid scheduling method for stacker cranes when performing inbound and outbound tasks.

2. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 1, characterized in that, The definition of the grid, configuration of locking attributes, definition of locking and release rules, and definition of dimensional relationship requirements include: Define a 3D cell with the intersection node of the AGV movement as the center of the bottom surface, and define it as a 3D grid. Define the grid name according to the plane column number and row number coordinate position. ; Define whether layer 1# is locked using the integer attribute lock1: lock1=-2 indicates that it is not locked, lock1=-1 indicates that it is locked by the material at the access point, lock1=0 indicates that it is locked by the stacker crane, and lock1>0 indicates that it is locked by the corresponding AGV. Define whether layer 0# is locked using the integer attribute lock0: lock0=-2 indicates that it is not locked, lock0>0 indicates that it is locked by the corresponding AGV number; the current material location of layer 1# and the current stacker crane in the aisle picking up or placing material of layer 1# will not lock lock0; When a cargo AGV needs to occupy a cell while moving, it simultaneously checks lock0 and lock1. If both are -2, the cell can be occupied and locked, and lock0>0 and lock1>0 are assigned. When leaving the cell, lock0=-2 and lock1=-2 are assigned. When an unloaded AGV needs to occupy a certain grid while moving, it checks lock0. If lock0 = -2, the AGV can occupy the grid and lock it, then set lock0 > 0. When leaving the grid, the AGV releases the grid and sets lock0 = -2. When the stacker crane loads materials and arrives at the 2nd level of the outbound aisle, it checks the current aisle and storage compartments on the 1st level of the column. If lock1 is -2 for both, the stacker crane can occupy the compartments and locks them, setting lock1=0. After the materials are released, the stacker crane's forks retract to the 1st level position, releasing the materials and occupying the storage compartments on the 1st level, setting lock1=-1. If there are materials that need to be stored in the opposite storage location, the stacker crane occupies the opposite storage compartment to retrieve the materials; otherwise, it returns to the 2nd level and releases the storage compartments on the 1st level, setting lock1=-2. When the stacker crane arrives at the 2nd level of the inbound aisle with no material, it simultaneously checks the aisle grids and cargo bays of the current 1st level aisle. If lock1=-2 for the aisle grid grid and lock1=-1 for the cargo bay grid, the stacker crane can occupy the space, locking both grids and setting lock1=0. After retrieving the material, the stacker crane's forks retract to the 1st level aisle position, releasing the material and occupying the 1st level cargo bay grid, setting lock1=-2. After returning to the 2nd level, it releases the 1st level aisle grid grid and sets lock1=-2. A cargo aisle or lane may be locked by a stacker crane and an empty AGV at the same time. When the stacker crane is working on layer 1 in the Z direction, the lock1 attribute of the locked column is 0. When the empty AGV is traveling on layer 0, the lock0 attribute of the locked column is >0 and there is no conflict. Dimensional relationship requirements: The three dimensions of the ligature are as follows: , , , , ; quantity is ; The minimum three-dimensional device spacing is defined as follows: , , The dimensional relationships in three dimensions are as follows: ； ； ； ； ； ； ； ； ； ； when When available, the air lane is usable; otherwise The air lane is unavailable; ； ； ； ； ； ； Setting the pointer attributes for AGVs and stacker cranes includes: Set the AGV grid pointer attribute: scc points to the current cell; scls is the list of cells locked while moving; scb is the cell that is blocked. Set the stacker crane grid pointer attributes: scl1s is the list of aisle and cargo aisle grids locked when the forks pass through layer 1; scb1 is the aisle grid locked by the cargo AGV.

3. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 1 or 2, characterized in that, The design of the AGV main track walking grid scheduling method includes: Detection is performed at a fixed frequency, based on the current travel distance on the main road. Maximum walking speed Real-time walking speed acceleration deceleration Using the grid as the smallest unit, the system detects whether any grids are locked along the route as it moves downwards in the direction of travel. The detection distance that can be calculated using the uniform addition and subtraction formula to accelerate to the maximum speed and then decelerate to a stop is... The number of cells to be inspected along the downward path is calculated by rounding up the cell size. and the number of cubicles required The calculation formula is as follows: in, This refers to the dimensions in the direction of movement of the rectifier; Will go down Each cell is defined as a list of downlink cells. The lock1 and lock0 attributes are checked sequentially to see if they are equal to -2. The cell lock release rules are used to determine if any cell has been locked by other devices. If there is no locked grid, it is defined as a normally moving AGV. If it is locked by the current AGV, add 1#~n# to the AGV_scls attribute list; for empty AGVs, modify the grid lock0 attribute to AGV number (>0); for loaded AGVs, modify the grid lock1 and lock0 attributes to AGV number (>0) and move normally. If a cell is locked, it is defined as an AGV that is obstructed from moving. The sequence number i# is recorded and the detection is stopped in time. The scb attribute points to the locked cell i#. Cells 1# to (i-1)# are added to the AGV_scls attribute list, and the lock1 or lock0 attribute of the cell is modified. If the scls attribute list is not empty, it goes to cell (i-1)# in the scls attribute list. If the scls attribute list is empty, it means that the AGV has not started moving and the next cell 1# to move has been locked. It waits in place. When the AGV leaves the current grid, update the scc attribute, release the grid from the scls attribute in time, and reset the lock1 and lock0 attributes of the released grid to -2; According to the fixed frequency detection, when the AGV, stacker crane and the material being carried leave a certain cell, if there is an AGV or stacker crane that needs to occupy the current cell, the target cell of the blocked AGV or stacker crane will be updated in time and the movement will be started.

4. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 1, characterized in that, The Lige scheduling method for stacker cranes performing inbound and outbound tasks includes: Loading method in the same row: When loading goods, the stacker crane only performs lifting and picking operations in the same row, and can pick up and put goods in both rows of storage positions on the left and right sides of the aisle; when entering the warehouse, the stacker crane's empty forks go down to the 1st layer of the same row to pick up the goods, and then rise vertically in the Z direction to the 2nd layer or above to put the goods in for storage; when leaving the warehouse, the stacker crane picks up the goods in the 2nd layer or above, and then descends vertically in the Z direction to the 1st layer to put the goods in. Z-axis downward movement through layer 1: Initially, the unloaded stacker crane always rests at layer 2 or above. First time period: Upon receiving a pick-up / place-out task, the stacker crane first moves in the X direction to the current column; in an inbound task, the forks descend in parallel Z-axis to layer 2; in an outbound task, the forks rise and fall in parallel Z-axis to the outbound layer to pick up the goods; after picking up the goods at layer 3 or above, it descends vertically to layer 2. Second time period: The forks descend in Z-axis to layer 1 to complete the pick-up / place-out operation. Third time period: The loaded crane is lifted in Z-axis to layer 2. If it is an outbound task, the task is completed and the crane rests; if it is an inbound task, it continues to rise vertically towards the target layer or places the goods at layer 2, continuing the subsequent tasks. Stacker crane scheduling method for automated warehouse area: When the stacker crane enters or leaves the warehouse, it first arrives at the 2nd floor of the same column as the pick-up / placement point and immediately requests the grids on the 1st floor of the main aisle and the cargo aisle where the pick-up / placement point is located. According to the grid lock and release rules, if it detects that any grid in the aisle or cargo aisle is locked, it waits. If both grids are not locked, the stacker crane locks the two grids, adds them to the stacker crane's scls attribute list, sets the grid lock1 attribute to 0, and the forks pass down through the 1st floor to perform the pick-up / placement operation. After completion, the forks are raised to the 2nd floor of the same column, and the two locked grids are released, setting the grid lock1 attribute to -2.

5. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 1, characterized in that, The AGV auxiliary lane movement grid scheduling method includes: When there are no materials in the auxiliary cargo channel grid #1, the grid lock1 attribute is -2, allowing cargo-carrying AGVs to pass; when there are materials in the grid #1, the grid lock1 attribute is -1, disallowing cargo-carrying AGVs to pass. Empty AGVs that need to change lanes or loaded AGVs that have received goods from the warehouse need to enter the main lane in the Y direction. If the target main lane is locked, they need to wait for it to be released before entering; otherwise, they can enter directly. For cargo AGVs that need to switch from a non-receiving lane to a main lane, they should first enter the passable grid of the non-receiving lane in the Y direction. If the grid of the target main lane is locked, they should wait for it to be released before entering; otherwise, they should enter directly.

6. The design and scheduling method for collaborative operation of a stacker crane and AGV according to claim 1, characterized in that, The idle AGV scheduling method includes: Stopping method: After the AGV loads goods at the pick-up and drop-off point of the cargo channel, its status becomes empty and it only occupies the position of the 0# layer of the cargo cell, stopping in place; Receiving method: A dynamic material AGV dispatching method is adopted, which detects at a fixed frequency and dispatches by cargo lane. Material is dispatched according to the principle of finding the nearest and farthest material in the upward direction. When unreceived outbound materials are detected in the cargo lane, empty AGVs are dynamically allocated to receive them in the upward direction of the cargo lane picking point first, so as to avoid other empty AGVs that have just unloaded in the cargo lane blocking the way and requiring them to catch up. If there are no available empty AGVs in the cargo lane, empty AGVs are dispatched to receive the materials from the downward direction of the current cargo lane, other cargo lanes, or inbound / outbound cargo lanes according to the principle of finding the nearest and farthest material in the downward direction of the current cargo lane. Avoidance method: When an idle AGV blocks a cargo AGV that needs to move in the Y direction, the idle AGV can be moved down one node position.

7. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 1 or 4, characterized in that, The racking structure and aisle layout of the configured automated warehouse include: Set up a three-dimensional coordinate system: the stacker crane's travel direction is the X-axis, from the origin to the reverse origin is the positive X-axis; the horizontal plane perpendicular to the X-axis is the Y-axis, and rotating the positive X-axis counterclockwise by 90 degrees is the positive Y-axis; the vertical lifting direction is the Z-axis, from bottom to top is the positive Z-axis; System access unit configuration: The access unit is the material, which can be pallet-based or boxed material. The three-dimensional dimensions of the material are defined as a cuboid during storage. , , ; The automated warehouse is configured with the following information: aisle numbers, stacker crane numbers, rack arrangement layer numbers, storage location numbers, and AGV numbers: aisles are numbered sequentially starting from #1 along the positive Y-axis; stacker crane numbers are the same as aisle numbers; rack row numbers are numbered sequentially starting from #1 along the positive Y-axis, with two rows on each side for a single aisle extension, and four rows on each side for a double extension; rack column numbers are numbered sequentially starting from #1 along the positive X-axis; rack layer numbers are numbered sequentially starting from #0 along the positive Z-axis, with layer #0 being the layer for unloaded AGVs, and layers #1 and above used for storing and retrieving materials; storage location numbers are determined by the arrangement layer numbers; AGVs are numbered sequentially starting from #1. The shelving structure, function, and dimensions are as follows: Level 1 is the inbound / outbound level, with the Y-axis of the storage location using a cantilever structure to support the materials; Level 2 and above are storage levels, which can be cantilevered or beam-type. The design of the 1st floor is enhanced, and a cantilever beam structure is added to the X-axis of the racks on both sides of the aisle between the storage materials on the 1st floor and the 2nd floor. Stacker crane side rails are then installed on top, forming a double-side rail guide system. The width of the single-sided cantilever beam + guide rail in the Y-axis is defined as follows: The height from the bottom surface of the Z-axis to the bottom surface of the 2nd floor is defined as follows: ; The shelf height boundaries are the ground, the bottom surface of the stored materials on each shelf, and the top surface of the shelf, which are respectively set as follows: , ...; the three-dimensional dimensions of the storage location are as follows: , , .

8. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 7, characterized in that, The structural and operational dimensions of the stacker crane and AGV design include: The stacker crane uses a side-mounted overhead rail forklift structure, mounted above the first level of the racking system. The overhead rail is the secondary rail responsible for Y-axis correction; the side rails are the main rails for load-bearing and X-axis guidance. The forks can pick up goods from the second level and above, and can also reach down to the first level for pickups. The retracted fork length is [missing information]. The forklift height at the storage location is ; The AGV adopts a submerged lifting structure. When turning within the rack area, only the vehicle body rotates, while the lifting mechanism does not rotate. After lowering and retracting, the vehicle height is less than the height of rack level 0 minus the stacker crane's forklift height. An unloaded AGV can move freely on rack level 0 as long as no other AGVs are obstructing its path, unaffected by the stacker crane forklifting materials on rack level 1. When lifting to carry goods, the vehicle height is greater than rack level 0, allowing it to enter and exit empty storage locations on rack level 1 in the Y direction. When a loaded AGV travels within the aisle, it does not interfere with other AGVs if the stacker crane is operating on rack level 2 or above, or on rack level 1 not on the path of other AGVs. Otherwise, if the stacker crane is operating on rack level 1 on the path of the AGV, they will interfere with each other. The three dimensions of the vehicle body are as follows: , , , .

9. The design and scheduling method for the collaborative operation of a stacker crane and AGV according to claim 1, characterized in that, The setting of AGV walking paths, defining function types, defining travel directions, and designing width parameters and numbers include: The AGV walkways in the automated warehouse area are intersecting roads on the ground that can be used for AGV movement, including: the cargo aisle under the X-axis racks, the aisle where the stacker crane is located, the open aisle with sufficient width between back-to-back racks in adjacent aisles, as well as the interrupted aisle between racks in the Y-axis and the auxiliary cargo aisle under the racks. Define function type: The AGV is divided into main lanes and auxiliary lanes based on its direction of travel: the main lane is the X-direction travel lane, which is the main passageway for the AGV, including cargo lanes, aisles and empty lanes; the auxiliary lane is the Y-direction travel lane, which is the passageway for the AGV when switching to the main lane, including interrupt lanes and auxiliary cargo lanes. Functionally, they are divided into empty lanes and loaded lanes: empty lanes are dedicated to empty AGVs, including cargo lanes and auxiliary cargo lanes, and the Z-direction is limited by the height of layer 0; loaded lanes are dedicated to loaded AGVs, including alleyways, empty lanes, interrupted lanes, and auxiliary cargo lanes without materials on layer 1, and the Z-direction has sufficient height. Define the direction of travel: the main lane and the intermediate lane are one-way lanes, and lanes with the same one-way function are grouped together in opposite directions; the auxiliary freight lane is a two-way lane. Design width parameters and numbering: The widths of the X-direction walkway are: cargo lane width The alley is wide , width of the passage ; The X-direction walkway is sequentially numbered starting from 1# along the positive Y-direction, with the row number being y# and the row number being... ; The widths of the Y-direction walkway are as follows: Interruption width Wide auxiliary cargo aisles ; The Y-direction walkway is sequentially numbered from 1# along the positive X-direction, with column number x# and number of columns. .

10. The design and scheduling method for collaborative operation of a stacker crane and AGV according to claim 9, characterized in that, The relative layout of the planned aisles and shelves includes: Based on inventory and processing capacity requirements, the following models are planned: Mode 1: Single-extension aisle with empty aisle, lowest inventory, highest processing capacity; X-direction aisles and adjacent empty aisles are grouped in opposite directions, Y-direction bidirectional passage under the storage location is sufficient, no interruption passage is required; Mode 2: Single-span roadway without empty lanes, moderate inventory, and moderate processing capacity; adjacent roadways in the X direction are grouped in opposite directions, and it is recommended to set fewer interrupted lanes in the Y direction; Mode 3: Double-extension roadways without empty lanes have the highest inventory and the lowest processing capacity; adjacent roadways in the X direction are grouped in opposite directions, and more interrupted lanes are required in the Y direction.

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