Shuttle garage scheduling system

Abstract

The invention discloses a shuttle garage scheduling system, which relates to the field of garage scheduling, and comprises the steps of configuring an equipment object set, solidifying an object identification rule, configuring an object attribute field, setting a topological graph in a garage, defining node edge structure semantics, setting a mutually exclusive resource mapping relationship, setting an RFID addressing and positioning reference, and setting a communication and interface protocol. Through dynamic path planning and a cross-roadway conflict avoidance mechanism, key positions such as cross-roadway rail changing, layer changing entrances, channel convergence and the like are brought into unified mutual exclusion reservation and occupation management, so that the multi-vehicle running process has controllable time sequence alignment and resource coordination capabilities, the risks of vehicle meeting, lane crossing, congestion amplification and deadlock are avoided, and the safety of the system is improved. Meanwhile, in combination with state receipt, anomaly recognition and rescheduling closed loop, the scheduling system triggers task redistribution and path recalculation when equipment occupancy is abnormal and channel congestion occurs, operation continuity and operation stability are kept, and the reliability, safety and long-term availability of the whole system are improved.

Description

Technical Field

[0001] The present invention relates to the field of garage scheduling, and in particular to a shuttle garage scheduling system. Background Art

[0002] With the improvement of the turnover rhythm of the power grid material supply chain, shuttle car stereoscopic warehouses gradually adopt a combination of equipment such as shuttle cars, elevators, conveyor lines, inbound and outbound platforms, stereoscopic shelves, sorting workstations, manual sorting tables, and AGV docking to complete inbound, outbound, inspection, and return operations. The scenario of parallel operation of equipment requires the scheduling system to simultaneously process the in-warehouse topology, path planning, equipment handover timing, and status receipt, and meet the unified management of warehouse location specifications, load constraints, positioning accuracy, and industrial communication interfaces, and support continuous handling of cross-aisle rail switching and cross-layer switching.

[0003] Existing shuttle garage scheduling mostly adopts single-equipment queues and static channel planning. The control objects of shuttle cars, elevators, conveyor lines, and AGVs do not form a unified object model and passable topology, resulting in scattered task issuance and handover timing. When inspection tasks and regular inbound and outbound tasks are mixed, platform congestion and waiting amplification occur. There is a lack of a fine-grained mutual exclusion reservation mechanism at cross-aisle rail switching nodes, elevator entrances, and conveyor merging points. During the stage of intensive multi-vehicle operation, conflicts such as lane grabbing, meeting, and deadlock are prone to occur, and at the same time, there is a lack of an abnormal rescheduling closed-loop based on receipt and thresholds. Summary of the Invention

[0004] The purpose of the present invention is to provide a shuttle garage scheduling system for the deficiencies of the existing technology. The system aims to incorporate shuttle cars, elevators, conveyor lines, inbound and outbound platforms, stereoscopic shelves, sorting workstations, manual sorting tables, and docking transportation equipment into a unified object model, and complete task queue generation, priority allocation, and cross-device linkage arrangement under the same operation topology. The scheduling system forms a贯通 task closed-loop link. Inspection tasks are given clear priority guarantees at the queue level. With the organization of pre-positioning and batch下架 beats, it reduces platform occupancy and intermediate buffer accumulation, shortens the waiting time for key tasks, improves the in-warehouse turnover and throughput capabilities, and reduces the frequency of manual intervention.

[0005] To this end, the present application provides a shuttle garage scheduling system, including the following steps: An equipment object modeling module, configured to configure a set of equipment objects, solidify object identification rules, configure object attribute fields, set an in-warehouse topology map and define the semantic structure of node edges, set a mutual exclusion resource mapping relationship, set an RFID addressing and positioning reference, set communication and interface protocols, and form a task closed-loop message link.

[0006] The task priority allocation module is used to generate standard task units within the warehouse, solidify task priority fields, configure task queue structures, calculate task scheduling scores and perform sorting, and implement pre-shipment preparation mechanisms for inspection tasks and pre-outbound tasks.

[0007] The multi-vehicle collaborative scheduling module is used to configure the input set of the multi-vehicle collaborative scheduling algorithm, form candidate allocation pairs, set the shuttle operation capacity threshold and charging trigger threshold, calculate the collaborative allocation cost, complete the task allocation, generate a joint scheduling order, and write it into the task distribution message.

[0008] The dynamic path collision avoidance module is used to generate the shortest delay path node sequence, solidify the path cost function, set the mutual exclusion resource lock field time window reservation and cross-lane conflict avoidance, configure the lane discrete segment occupancy reservation table and adjacent time interval hard constraints, configure safe photoelectric linkage release and path recalculation and output an executable path.

[0009] The inspection return to warehouse orchestration module is used to generate the inspection outbound collaborative orchestration sequence, execute inspection outbound sorting collaboration, form a temporary storage and shelving closed loop, set the trigger for inspection outbound handover, and execute inspection return to warehouse collaborative orchestration.

[0010] The receipt re-adjustment evaluation module is used to configure execution receipt messages, solidify closed-loop feedback links, set abnormal trigger judgment thresholds, write abnormal re-adjustment trigger status labels, perform dynamic path recalculation and task reallocation, and configure efficiency evaluation and parameter self-tuning closed loop.

[0011] In some specific implementations, the device object modeling module specifically includes: Configure the set of device objects, solidify the object identification rules, configure the object attribute fields, set the topology graph in the library and define the semantics of the node edge structure, and set the mutual exclusive resource mapping relationship.

[0012] Set the RFID addressing and positioning benchmark, set the communication and interface protocol, and form a closed-loop message link for the task.

[0013] Configure the positioning and identification benchmarks for the shuttle object set. The shuttle object set uses RFID addressing to identify nodes in the warehouse. RFID addressing is used to output the current location node number of the shuttle. Set the positioning error threshold in the warehouse to ≤±5mm. The positioning error threshold in the warehouse is used as the positioning criteria for warehouse entry and shelving and the positioning criteria for handover.

[0014] Configure the intelligent warehouse control system and the instruction and status channels for shuttle object sets, hoist object sets, and conveyor line object sets. The instruction and status channels consist of a PLC field control channel, an OPCUA data interface channel, and an MQTT message channel. The PLC field control channel is used to issue motion execution instructions and mutex lock occupancy instructions. The OPCUA data interface channel is used to report equipment operating status tags and node arrival status. The MQTT message channel is used to report task events and abnormal alarm events.

[0015] A closed-loop message chain is formed, consisting of task issuance messages, execution receipt messages, and exception alarm messages. The task issuance message is bound to the task identifier code and the device object identifier code, the execution receipt message is bound to the task identifier code and the completion timestamp, and the exception alarm message is bound to the device object identifier code and the exception type identifier code.

[0016] In some specific implementations, the task priority allocation module specifically includes: Generate standard task units within the library, solidify the task priority field, configure the task queue structure, calculate task scheduling scores, and perform sorting.

[0017] The pre-shipment preparation mechanism for inspection tasks and the pre-shipment preparation mechanism for pre-shipment tasks.

[0018] The intelligent warehouse control system defines a buffer zone for the automated racking system within the set of automated racking system objects. The buffer zone is composed of a set of buffer zone storage location nodes. The intelligent warehouse control system sets the buffer zone reservation ratio for inspection tasks to be 20%, the buffer zone reservation ratio for pre-outbound tasks to be 15%, and the buffer zone occupancy threshold to be 85%.

[0019] When there is a standard task unit in the warehouse with Priority=1 in the inspection task queue, the warehouse intelligent control system will split the inspection task into a picking sub-task unit and a cache shelving sub-task unit. The target warehouse location node number of the cache shelving task unit points to the idle warehouse location node number of the cache area warehouse location node set.

[0020] The warehouse intelligent control system sets the batch rapid destocking threshold to 6 pallets. When the buffer area accumulates 6 pallets for inspection, the warehouse intelligent control system generates a batch destocking task unit for inspection and puts it at the top of the task queue. When the buffer area occupancy rate reaches 85%, the warehouse intelligent control system stops adding new batch destocking task units for inspection and maintains the sorting of the inspection task queue.

[0021] When there are standard task units in the warehouse with Priority=3 in the pre-outbound task queue, the warehouse intelligent control system will split the pre-outbound task into a picking sub-task unit and a pre-outbound cache shelving sub-task unit. The target warehouse location node number of the pre-outbound cache shelving task unit points to the idle warehouse location node number in the pre-outbound cache area.

[0022] In some specific implementations, the multi-vehicle collaborative scheduling module specifically includes: Configure the input set for the multi-vehicle collaborative scheduling algorithm, form candidate allocation pairs, set the shuttle operation capacity threshold and charging trigger threshold, calculate the collaborative allocation cost, and complete the task allocation.

[0023] The intelligent warehouse control system reads standard task units within the warehouse from the task queue; it reads the shuttle's current position node number, shuttle operation status label, shuttle load status label, shuttle task occupancy label, and remaining endurance time parameter from the shuttle object set; it reads the elevator occupancy status label and elevator queue length parameter from the elevator object set; it reads the conveyor line occupancy status label and conveyor line pallet queue length parameter from the conveyor line object set; and it reads the platform queue length parameter from the inbound / outbound platform objects.

[0024] The intelligent warehouse control system sets the shuttle operation efficiency threshold to ≥30 trays / hour. The shuttle operation efficiency threshold is used to restrict the shuttle object identification code from entering the candidate allocation pair set. The intelligent warehouse control system sets the shuttle power supply parameters to 48V / 40Ah, the shuttle endurance parameter to 8h, and the shuttle charging time parameter to 1~2h.

[0025] The intelligent warehouse control system sets the charging trigger threshold to a remaining range time parameter of <45 minutes. When the remaining range time parameter meets the charging trigger threshold, the intelligent warehouse control system switches the shuttle's operating status label to the charging scheduling status label and removes the shuttle's task occupancy label. The shuttle object identifier code exits the candidate allocation pair set and enters the charging pile queue.

[0026] The warehouse intelligent control system calculates the collaborative allocation cost for candidate allocation pairs, and the collaborative allocation cost is used to select the shuttle object identification code to execute.

[0027] Generate a joint scheduling order and write it into the task distribution message.

[0028] The intelligent warehouse control system generates a joint scheduling order for the task identification code. The joint scheduling order includes the execution shuttle object identification code, path node sequence, hoist time window parameters, conveyor line handover time window parameters, and inbound / outbound platform handover sequence.

[0029] The warehouse intelligent control system sets the time window granularity threshold to 0.5s. The time window parameters of the hoist and the handover time window parameters of the conveyor are aligned with the occupancy time window parameters of the mutually exclusive resource lock field at a granularity of 0.5s.

[0030] In some specific implementations, the dynamic path collision avoidance module specifically includes: Generate the shortest latency path node sequence and solidify the path cost function, and set the time window reservation of the mutual exclusion resource lock field and cross-lane conflict avoidance.

[0031] Configure the segment occupancy reservation table for roadway discrete segments and hard constraints on adjacent time intervals, configure safe photoelectric linkage release and path recalculation, and output an executable path.

[0032] In some specific implementations, the inspection return and storage arrangement module specifically includes: Generate a collaborative arrangement sequence for inspection and outbound shipment, execute collaborative inspection and outbound sorting, and form a closed loop for temporary storage and shelving.

[0033] Configure triggers for sending out detections and handing them over to the database, and perform collaborative orchestration for returning detections to the database.

[0034] In some specific implementations, the feedback readjustment evaluation module specifically includes: Configure execution receipt messages, solidify the closed-loop feedback link, set the abnormal trigger judgment threshold, and write the abnormal re-trigger status label.

[0035] Perform dynamic path recalculation and task reallocation, configure efficiency evaluation and parameter self-tuning closed loop.

[0036] When the abnormal readjustment trigger status label is established, the warehouse intelligent control system releases the mutex resource lock field's time window parameter and the discrete segment occupancy interval of the roadway discrete segment occupancy reservation table. The warehouse intelligent control system then uses path cost as the basis for its decision. Re-search for the shortest latency path node sequence and refresh the executable path to write the task dispatch message.

[0037] The intelligent warehouse control system reconstructs candidate allocation pairs based on the input set of the multi-vehicle collaborative scheduling algorithm and bases them on the collaborative allocation cost. Select the shuttle object identifier code again, regenerate the joint scheduling order, and synchronously update the hoist time window parameters and the conveyor handover time window parameters.

[0038] The warehouse intelligent control system fixes the statistical cycle length threshold at 3600 seconds and counts the number of execution receipt messages with completed status identification codes within the statistical cycle length threshold. .

[0039] Warehouse intelligent control system solidifies single-machine scheduling baseline efficiency indicators And calculate the increase ratio.

[0040] The warehouse intelligent control system has a fixed increase rate threshold of 15% and a continuous statistical period count threshold of 3. The increase rate must meet the requirements for three consecutive statistical periods. Time-triggered parameter self-tuning updates the mutual exclusion time window granularity threshold, the transport channel congestion penalty coefficient, and the batch rapid removal threshold. The mutual exclusion time window granularity threshold is written into the joint scheduling order when it is in the range of 0.3s to 0.8s, and the transport channel congestion penalty coefficient is written into the path cost when it is in the range of 3.0 to 6.0. The batch rapid removal threshold is written to the batch removal sub-task unit for inspection and outbound processing when the batch is in the range of 4 to 8 pallets.

[0041] The warehouse intelligent control system establishes a fixed noise threshold of ≤75dB for shuttle car operation. When the noise level in the warehouse exceeds 75dB, a nighttime speed limit status label is written, and the upper limit parameter of the shuttle car object set's operating speed is fixed to 0.6m / s. The warehouse intelligent control system also establishes the nighttime period from 22:00 to 06:00. When the nighttime period is established, the threshold for the adjacent occupancy time interval is fixed to 0.6s and written into the segment occupancy reservation table of the roadway. During the nighttime period, a safe minimum operating rhythm is formed, and the closed-loop message link is continuously transmitted back to the execution receipt message.

[0042] In summary, the shuttle garage scheduling system provided in this application incorporates key locations such as cross-lane track switching, level switching entrances, and channel merging into a unified mutual exclusion reservation and occupancy management system through dynamic path planning and cross-lane conflict avoidance mechanisms. This enables controllable timing alignment and resource coordination during multi-vehicle operation, avoiding the risks of meeting oncoming traffic, lane cutting, congestion amplification, and deadlock. Furthermore, by combining status feedback, anomaly identification, and rescheduling closed loop, the scheduling system triggers task reassignment and path recalculation when equipment occupancy anomalies or channel congestion occur, maintaining operational continuity and stability, and improving the overall system's reliability, security, and long-term availability. Attached Figure Description

[0043] Figure 1 This is an overall framework diagram of a shuttle garage scheduling system provided in an embodiment of this application. Detailed Implementation

[0044] Please refer to Figure 1 The diagram illustrates the flow of one embodiment of a shuttle garage scheduling system according to the present disclosure.

[0045] like Figure 1 As shown, a shuttle parking garage dispatching system includes the following steps: The device object modeling module is used to configure the device object set, solidify the object identification rules, configure the object attribute fields, set the topology graph in the library and define the semantics of the node edge structure, set the mutually exclusive resource mapping relationship, set the RFID addressing and positioning benchmark, set the communication and interface protocol, and form a task closed-loop message link.

[0046] The task priority allocation module is used to generate standard task units within the warehouse, solidify task priority fields, configure task queue structures, calculate task scheduling scores and perform sorting, and implement pre-shipment preparation mechanisms for inspection tasks and pre-outbound tasks.

[0047] The multi-vehicle collaborative scheduling module is used to configure the input set of the multi-vehicle collaborative scheduling algorithm, form candidate allocation pairs, set the shuttle operation capacity threshold and charging trigger threshold, calculate the collaborative allocation cost, complete the task allocation, generate a joint scheduling order, and write it into the task distribution message.

[0048] The dynamic path collision avoidance module is used to generate the shortest delay path node sequence, solidify the path cost function, set the mutual exclusion resource lock field time window reservation and cross-lane conflict avoidance, configure the lane discrete segment occupancy reservation table and adjacent time interval hard constraints, configure safe photoelectric linkage release and path recalculation and output an executable path.

[0049] The inspection return to warehouse orchestration module is used to generate the inspection outbound collaborative orchestration sequence, execute inspection outbound sorting collaboration, form a temporary storage and shelving closed loop, set the trigger for inspection outbound handover, and execute inspection return to warehouse collaborative orchestration.

[0050] The receipt re-adjustment evaluation module is used to configure execution receipt messages, solidify closed-loop feedback links, set abnormal trigger judgment thresholds, write abnormal re-adjustment trigger status labels, perform dynamic path recalculation and task reallocation, and configure efficiency evaluation and parameter self-tuning closed loop.

[0051] In some specific implementations, the device object modeling module specifically includes: Configure the set of device objects, solidify the object identification rules, configure the object attribute fields, set the topology graph in the library and define the semantics of the node edge structure, and set the mutual exclusive resource mapping relationship.

[0052] Configure the equipment object model of the shuttle garage scheduling system, and establish a set of shuttle car objects, a set of hoist objects, a set of conveyor line objects, inbound and outbound platform objects, a set of automated racking objects, a set of sorting station objects, a set of manual sorting station objects, and a set of AGV docking objects.

[0053] Assign an equipment object identifier code to each type of equipment object, assign a shuttle object identifier code to each shuttle car, assign a hoist object identifier code to each hoist, assign a conveyor line object identifier code to each section of the conveyor line, and assign an inbound / outbound station object identifier code to each inbound / outbound station. These are used for binding scheduling instructions, binding status receipts, and tracing back abnormal alarms.

[0054] The shuttle vehicle object set is fixed with cross-lane operation capability and lane-changing capability. The cross-lane operation capability is used to support the multi-vehicle collaborative scheduling algorithm to perform task allocation and path replanning within a multi-lane range.

[0055] Configure the shuttle object set with the current shuttle location node number, target shuttle node number, shuttle operation status label, shuttle load status label, and shuttle task occupancy label. Configure the elevator floor number, elevator target floor number, elevator occupancy status label, and elevator queue length parameter. Configure the conveyor line entrance node number, conveyor line exit node number, conveyor line occupancy status label, and conveyor line pallet queue length parameter. Configure the platform operation status label and platform queue length parameter. Configure the storage location node number, storage location occupancy status label, storage location load limit parameter, and storage location size parameter. Fix the storage location size parameter to 1400mm×1200mm and the storage location load limit parameter to ≤1.5t. The storage location size parameter and storage location load limit parameter are used to form task executability constraints. Task executability constraints are used to prevent oversized pallet tasks and overloaded pallet tasks from entering the scheduling queue.

[0056] A warehouse topology map is constructed, which uses a node-edge structure to represent the passage relationships within the warehouse. The node set includes the set of nodes for automated racking aisles, cross-aisle track-changing nodes, elevator level-changing nodes, conveyor channel nodes, and inbound / outbound platform nodes. The edge set includes the set of edges for aisle passage, cross-aisle track-changing passage, elevator level-changing passage, conveyor channel passage, and platform handover passage. The node-edge structure provides a traversable graph for dynamic path planning, and the traversable graph provides a path search space for multi-vehicle collaborative scheduling algorithms. Node numbers and edge numbers are used to form a traceable path node sequence, which drives the shuttle object set to execute the inbound shelving path, outbound retrieval path, and platform handover path.

[0057] The cross-lane track-changing node, hoist level-changing node, conveyor channel merging node, and warehouse entry / exit platform handover node are defined as a set of mutually exclusive resource nodes. The set of mutually exclusive resource nodes is used to express the conflict-sensitive locations when multiple vehicles are running across lanes. The set of mutually exclusive resource nodes is mapped to a mutually exclusive resource lock field in the object model.

[0058] The mutex resource lock field is bound to the node number, the shuttle object identifier and the occupancy time window parameter. The mutex resource lock field provides a consistent occupancy criterion for subsequent cross-lane conflict avoidance. Cross-lane conflict avoidance achieves the implementation of scheduling layer constraints on the premise that the mutex resource mapping is completed in this step.

[0059] Set the RFID addressing and positioning benchmark, set the communication and interface protocol, and form a closed-loop message link for the task.

[0060] Configure the positioning and identification benchmarks for the shuttle object set. The shuttle object set uses RFID addressing to identify nodes in the warehouse. RFID addressing is used to output the current location node number of the shuttle. Set the positioning error threshold in the warehouse to ≤±5mm. The positioning error threshold in the warehouse is used as the positioning criteria for warehouse entry and shelving and the positioning criteria for handover.

[0061] The inbound shelving positioning criterion is used to determine whether the shuttle car meets the shelving position accuracy when it arrives at the target storage location node. The handover positioning criterion is used to determine whether the shuttle car meets the pallet handover position accuracy at the inbound / outbound platform node. When the positioning error in the storage exceeds ≤±5mm, the positioning resampling action is triggered and the current position node number of the shuttle car is refreshed. After the positioning resampling action is completed, the path node sequence continues to be executed.

[0062] Configure the intelligent warehouse control system and the instruction and status channels for shuttle object sets, hoist object sets, and conveyor line object sets. The instruction and status channels consist of a PLC field control channel, an OPCUA data interface channel, and an MQTT message channel. The PLC field control channel is used to issue motion execution instructions and mutex lock occupancy instructions. The OPCUA data interface channel is used to report equipment operating status tags and node arrival status. The MQTT message channel is used to report task events and abnormal alarm events.

[0063] A closed-loop message chain is formed, consisting of task issuance messages, execution receipt messages, and exception alarm messages. The task issuance message is bound to the task identifier code and the device object identifier code, the execution receipt message is bound to the task identifier code and the completion timestamp, and the exception alarm message is bound to the device object identifier code and the exception type identifier code.

[0064] The closed-loop message link is used to support the real-time status subscription and consistency update of scheduling decisions for subsequent multi-vehicle collaborative scheduling algorithms.

[0065] In some specific implementations, the task priority allocation module specifically includes: Generate standard task units within the library, solidify the task priority field, configure the task queue structure, calculate task scheduling scores, and perform sorting.

[0066] The power grid management platform's supply chain domain sends pre-out tasks, inventory tasks, inspection tasks, and return tasks to the warehouse intelligent control system. The warehouse intelligent control system generates a task receiving message for each task, which includes the task identifier code, task type identifier code, task generation timestamp, planned completion timestamp, material pallet identifier code, material pallet size parameters, material pallet load parameters, target warehouse location node number, and inbound / outbound platform object identifier code.

[0067] The intelligent warehouse control system converts the received task messages into standard task units within the warehouse and performs task executability constraint verification. The task executability constraints consist of the warehouse location size parameter of 1400mm×1200mm and the warehouse location load limit parameter of ≤1.5t. When the material pallet size parameter exceeds 1400mm×1200mm or the material pallet load parameter exceeds 1.5t, an abnormal alarm message is generated and bound to the task identification code. The abnormal alarm message enters the closed-loop message link, and the standard task units within the warehouse are not written into the task queue.

[0068] The warehouse intelligent control system writes a task priority field Priority∈{1,2,3,4} into the standard task unit within the warehouse. The inspection task corresponds to Priority=1, the return task corresponds to Priority=2, the pre-outbound task corresponds to Priority=3, and the inventory task corresponds to Priority=4.

[0069] The warehouse intelligent control system constructs task queues and maintains the units within the task queues as standard task units within the warehouse. The task queues include inspection task queues, return task queues, pre-outbound task queues, and inventory task queues.

[0070] The warehouse intelligent control system writes the task priority field into the task distribution message, and binds the task identifier code and the device object identifier code to the task distribution message for subsequent multi-vehicle collaborative scheduling algorithm execution allocation and sorting.

[0071] The intelligent warehouse control system calculates a task scheduling score for each standard task unit within the warehouse. This score is used for sorting within the task queue. Specifically, the task scheduling score is as follows: In the formula: The task identifier is Task scheduling score, It is the task priority weighting coefficient, which is set. The task identifier is The task priority field has the following value set: It is a task urgency weighting coefficient, set The task identifier is The urgency of the task It is the path delay weighting coefficient, set The task identifier is Path delay weights.

[0072] The task urgency and path delay weights are respectively calculated using the following formulas: In the formula: The task identifier is The urgency of the task It is a saturation function, and its output range is... It is the threshold for the urgent time window, set. The task identifier is The project completion timestamp It is the current timestamp when the intelligent warehouse control system generates the score.

[0073] In the formula: The task identifier is Path delay weights, The path delay is calculated from the accessible topology map within the warehouse. The path start point is taken from the node number of the shuttle's current position, and the path end point is taken from the node number of the target warehouse location or the node number of the entry / exit platform. It is the path delay normalization threshold, set .

[0074] The warehouse intelligent control system sorts the task queues from largest to smallest according to the task scheduling score. When the difference in task scheduling scores is less than 0.05, the tasks are sorted from earliest to latest according to their generation timestamp.

[0075] The pre-shipment preparation mechanism for inspection tasks and the pre-shipment preparation mechanism for pre-shipment tasks.

[0076] The intelligent warehouse control system defines a buffer zone for the automated racking system within the set of automated racking system objects. The buffer zone is composed of a set of buffer zone storage location nodes. The intelligent warehouse control system sets the buffer zone reservation ratio for inspection tasks to be 20%, the buffer zone reservation ratio for pre-outbound tasks to be 15%, and the buffer zone occupancy threshold to be 85%.

[0077] When there is a standard task unit in the warehouse with Priority=1 in the inspection task queue, the warehouse intelligent control system will split the inspection task into a picking sub-task unit and a cache shelving sub-task unit. The target warehouse location node number of the cache shelving task unit points to the idle warehouse location node number of the cache area warehouse location node set.

[0078] The warehouse intelligent control system sets the batch rapid destocking threshold to 6 pallets. When the buffer area accumulates 6 pallets for inspection, the warehouse intelligent control system generates a batch destocking task unit for inspection and puts it at the top of the task queue. When the buffer area occupancy rate reaches 85%, the warehouse intelligent control system stops adding new batch destocking task units for inspection and maintains the sorting of the inspection task queue.

[0079] When there are standard task units in the warehouse with Priority=3 in the pre-outbound task queue, the warehouse intelligent control system will split the pre-outbound task into a picking sub-task unit and a pre-outbound cache shelving sub-task unit. The target warehouse location node number of the pre-outbound cache shelving task unit points to the idle warehouse location node number in the pre-outbound cache area.

[0080] The warehouse intelligent control system sets the threshold for the queue length parameter of inbound and outbound platform objects to 6 pallets. When the queue length parameter reaches 6 pallets, the warehouse intelligent control system stops adding new pre-outbound cache shelving sub-task units to the task queue. After the outbound trigger signal arrives, the warehouse intelligent control system sorts the cache unshelving task units corresponding to the pre-outbound cache area according to the task scheduling score and writes them into the task distribution message, thereby reducing the occupation time of inbound and outbound platform objects and improving outbound throughput.

[0081] In some specific implementations, the multi-vehicle collaborative scheduling module specifically includes: Configure the input set for the multi-vehicle collaborative scheduling algorithm, form candidate allocation pairs, set the shuttle operation capacity threshold and charging trigger threshold, calculate the collaborative allocation cost, and complete the task allocation.

[0082] The intelligent warehouse control system reads standard task units within the warehouse from the task queue; it reads the shuttle's current position node number, shuttle operation status label, shuttle load status label, shuttle task occupancy label, and remaining endurance time parameter from the shuttle object set; it reads the elevator occupancy status label and elevator queue length parameter from the elevator object set; it reads the conveyor line occupancy status label and conveyor line pallet queue length parameter from the conveyor line object set; and it reads the platform queue length parameter from the inbound / outbound platform objects.

[0083] The intelligent warehouse control system combines the task priority field and the task scheduling score. Write the input set of the multi-vehicle cooperative scheduling algorithm. The input set of the multi-vehicle cooperative scheduling algorithm generates candidate allocation pairs between the standard task units in the library and the shuttle object identification codes. The candidate allocation pairs are used for subsequent cooperative allocation cost calculation and task allocation decision.

[0084] The intelligent warehouse control system sets the shuttle operation efficiency threshold to ≥30 trays / hour. The shuttle operation efficiency threshold is used to restrict the shuttle object identification code from entering the candidate allocation pair set. The intelligent warehouse control system sets the shuttle power supply parameters to 48V / 40Ah, the shuttle endurance parameter to 8h, and the shuttle charging time parameter to 1~2h.

[0085] The intelligent warehouse control system sets the charging trigger threshold to a remaining range time parameter of <45 minutes. When the remaining range time parameter meets the charging trigger threshold, the intelligent warehouse control system switches the shuttle's operating status label to the charging scheduling status label and removes the shuttle's task occupancy label. The shuttle object identifier code exits the candidate allocation pair set and enters the charging pile queue.

[0086] The warehouse intelligent control system calculates the collaborative allocation cost for candidate allocation pairs. The collaborative allocation cost is used to select the shuttle object identifier code for execution. The specific collaborative allocation cost is as follows: In the formula: The shuttle object identification code is With task identifier code The cost of collaborative allocation The path delay is calculated from the traversable graph of the library's topology. It is the path delay normalization threshold, set The task identifier is The associated elevator queue length parameter, It is the normalization constant for the queue length of the elevator, set The task identifier is The associated conveyor line pallet queue length parameter, It is the normalization constant for the length of the pallet queue on the conveyor line, set as follows: The shuttle object identification code is The remaining battery life parameter, It is the charging trigger time threshold, set. The task identifier is Task scheduling score The corresponding value, It is the normalization constant for task scheduling score, set It is the path delay weighting coefficient, set It is the elevator queuing weight coefficient, set. It is the queuing weight coefficient for the conveyor line, set. It is the range risk weighting coefficient, set It is the task scheduling scoring weight coefficient, set It is a normalized cutoff function, and the normalized cutoff function is as follows: When the warehouse intelligent control system selects the shuttle object identifier code with the lowest collaborative allocation cost from the candidate allocation pair set to complete the task allocation, and the task priority field Priority=1 corresponds to the inspection task, the warehouse intelligent control system activates the forced queue rule. The forced queue rule sets the queue time window threshold to 20s. Within the queue time window threshold, low-priority tasks that occupy the elevator time window parameter and the conveyor line handover time window parameter are put into the delay queue and the occupied time window parameter is released.

[0087] Generate a joint scheduling order and write it into the task distribution message.

[0088] The intelligent warehouse control system generates a joint scheduling order for the task identification code. The joint scheduling order includes the execution shuttle object identification code, path node sequence, hoist time window parameters, conveyor line handover time window parameters, and inbound / outbound platform handover sequence.

[0089] The warehouse intelligent control system sets the time window granularity threshold to 0.5s. The time window parameters of the hoist and the handover time window parameters of the conveyor are aligned with the occupancy time window parameters of the mutually exclusive resource lock field at a granularity of 0.5s.

[0090] The intelligent warehouse control system writes the joint scheduling order into the task distribution message. The task distribution message is bound to the task identifier code and the equipment object identifier code and enters the closed-loop message link. The shuttle object set, the hoist object set, and the conveyor line object set perform coordinated operations according to the joint scheduling order and output execution receipt messages.

[0091] In some specific implementations, the dynamic path collision avoidance module specifically includes: Generate the shortest latency path node sequence and solidify the path cost function, and set the time window reservation of the mutual exclusion resource lock field and cross-lane conflict avoidance.

[0092] The intelligent warehouse control system is based on the node-edge structure and traversable graph of the warehouse topology. It generates a candidate path node sequence based on the combination of shuttle object identifier code and task identifier code. The candidate path node sequence connects the current position node number of the shuttle to the target storage location node number or the entry / exit platform object node number.

[0093] The warehouse intelligent control system sets the cross-lane track switching time penalty parameter to 3.0s, the hoist layer switching waiting time penalty parameter to 5.0s, the conveyor channel congestion penalty coefficient to 4.0, and the path delay normalization threshold to 180s. Specifically: In the formula: The shuttle object identification code is The task identifier is The path to value, It is a sequence of candidate path nodes. It is the set of edges corresponding to the candidate path node sequence. It is the edge number The corresponding laneside passage time parameters, It represents the number of times the candidate path node sequence traverses the set of track-changing nodes across lanes. It represents the number of times the candidate path node sequence traverses the set of elevator layer-change nodes. It is the set of nodes that the candidate path node sequence enters through the transport channels. The merging node number of the transport channel is The associated conveyor line pallet queue length parameter, 10 is the normalization constant for the conveyor line pallet queue length.

[0094] The intelligent warehouse control system selects from the candidate path node sequence set. The sequence of path nodes with the smallest minimum delay is written into the joint scheduling form as the sequence of path nodes with the shortest delay.

[0095] The intelligent warehouse control system calls upon a set of mutually exclusive resource nodes. This set includes nodes for cross-lane track changing, hoist entrances, and conveyor channel merging. The system sets the minimum granularity of the occupancy time window parameter to 0.5 seconds. This minimum granularity is used to discretize and round the node arrival timestamps. The system writes the node number, the occupancy shuttle object identifier, and the occupancy time window parameter into the mutually exclusive resource lock field. The mutually exclusive resource lock field outputs a mutually exclusive lock occupancy command to the PLC field control channel. Specifically: In the formula: The shuttle object identification code is Entering the mutual exclusive resource node number is timestamp, The shuttle object identification code is The node number leaving the mutex resource is timestamp, The shuttle object identification code is Entering the mutual exclusive resource node number is timestamp, The shuttle object identification code is The node number leaving the mutex resource is timestamp, It is an empty set. An empty set is used to limit the node number of mutually exclusive resources to 0. The time windows occupied do not overlap.

[0096] Configure the segment occupancy reservation table for roadway discrete segments and hard constraints on adjacent time intervals, configure safe photoelectric linkage release and path recalculation, and output an executable path.

[0097] The intelligent warehouse control system maps the set of lane passage edges to a set of lane segment numbers with a fixed length. The set of lane segment numbers is used to construct a lane occupancy reservation table. The intelligent warehouse control system writes the lane segment entry time stamp and the lane exit time stamp into the lane segment number. The lane segment entry time stamp and the lane exit time stamp are aligned with the minimum granularity of the occupancy time window parameter of 0.5s.

[0098] The warehouse intelligent control system sets the threshold for the adjacent occupancy time interval to 0.3s. This 0.3s is used to constrain the safe interval for consecutive occupancy of discrete segments within the same aisle. Specifically: In the formula: The shuttle object identification code is The segment number entering the roadway is timestamp, The shuttle object identification code is The segment numbering of the discrete segment leaving the roadway is timestamp, The shuttle object identification code is The segment number entering the roadway is timestamp, The shuttle object identification code is The segment numbering of the discrete segment leaving the roadway is The timestamp is 0.3, which is the threshold for the time interval between adjacent occupancy.

[0099] The shuttle object set is equipped with safety photoelectric sensors. The safety photoelectric sensors output obstacle trigger signals. The warehouse intelligent control system receives the obstacle trigger signals via the MQTT message channel and generates an abnormal alarm message. The warehouse intelligent control system sets the threshold for the effective holding time of obstacle triggering to 0.15s. When the obstacle trigger signal is held continuously for 0.15s, the warehouse intelligent control system writes a forced deceleration status label or a forced stop status label.

[0100] The warehouse intelligent control system releases the time window parameters of the mutually exclusive resource lock field and the discrete segment occupancy interval of the lane occupancy reservation table, and based on... Re-search for the shortest delay path node sequence.

[0101] The warehouse intelligent control system outputs an executable path, which includes a path node sequence, node arrival timestamps, and mutex lock request sequence. The executable path is written into the task distribution message and bound to the task identifier and shuttle object identifier. The node arrival timestamps and mutex lock request sequence are synchronized to the hoist object set and conveyor line object set via the OPCUA data interface channel to achieve the timing alignment of the hoist time window parameters and the conveyor line handover time window parameters.

[0102] In some specific implementations, the inspection return and storage arrangement module specifically includes: Generate a collaborative arrangement sequence for inspection and outbound shipment, execute collaborative inspection and outbound sorting, and form a closed loop for temporary storage and shelving.

[0103] The warehouse intelligent control system reads the standard task units in the warehouse with the task priority field Priority=1 from the inspection task queue. The warehouse intelligent control system writes the inspection return to warehouse arrangement sequence field into the task issuance message. The inspection return to warehouse arrangement sequence field includes the sorting station object identification code, the manual sorting table object identification code, the inbound / outbound station object identification code, and the AGV docking object identification code.

[0104] The intelligent warehouse control system reads the idle storage location node number from the set of cache area storage location nodes from the set of automated racking objects. The intelligent warehouse control system writes the idle storage location node number from the set of cache area storage location nodes into the temporary storage target storage location node number field. The temporary storage target storage location node number field is used for temporary storage and shelving arrangement after inspection and sorting are completed.

[0105] The warehouse intelligent control system sets the sorting timeout threshold to 120 seconds. If the task identifier code does not generate a sorting completion status receipt within 120 seconds, the warehouse intelligent control system generates an abnormal alarm message and binds the task identifier code and the sorting station object identifier code.

[0106] The warehouse intelligent control system sends task distribution messages to the shuttle object set. The shuttle object set arrives at the target storage location node number according to the path node sequence and completes the material pallet identification code retrieval action. The shuttle object set transfers the material pallet identification code to the conveyor channel node set and hands it over to the conveyor line object set.

[0107] The conveyor line object set sends the material pallet identification code to the sorting station object set based on the conveyor line inlet node number and the conveyor line outlet node number. The sorting station object set outputs a sorting method label, which takes the values ​​of automatic sorting status label and manual sorting status label.

[0108] When the sorting method label is set to automatic sorting status, the sorting station object set completes the destination station attribution writing and outputs a sorting completion status receipt message. When the sorting method label is set to manual sorting status, the conveyor line object set delivers the material pallet identification code to the manual sorting station object set, and the manual sorting station object set completes the destination station attribution writing and outputs a sorting completion status receipt message.

[0109] After receiving the sorting completion status acknowledgment message, the warehouse intelligent control system generates a temporary storage and shelving sub-task unit. The temporary storage and shelving task unit is bound to the temporary storage target storage location node number field and enters the task issuance message. The shuttle object set completes the temporary storage target storage location node number shelving according to the inbound shelving positioning criterion. The inbound shelving positioning criterion adopts the in-warehouse positioning error threshold ≤±5mm.

[0110] The intelligent warehouse control system receives the inspection and outbound trigger message. The inspection and outbound trigger message is bound to the task identifier code and the inbound / outbound platform object identifier code. The intelligent warehouse control system generates an inspection and outbound removal task unit for the material pallet identifier code associated with the node number of the temporary storage target storage location. The inspection and outbound removal task unit is written into the task issuance message and drives the shuttle object set to transfer the material pallet identifier code to the inbound / outbound platform object.

[0111] The entry and exit platform objects perform platform handover positioning determination. The platform handover positioning determination includes the AGV repeat positioning accuracy threshold of ±10mm and the AGV repeat positioning angle deviation threshold of ±1°. The entry and exit platform objects are equipped with a guard structure and a guide correction wheel structure. The guard structure and the guide correction wheel structure are used to constrain the consistency of the handover posture of the material pallet identification code.

[0112] The warehouse intelligent control system schedules AGV docking object identifiers from the AGV docking object set to enter the station handover sequence. The warehouse intelligent control system sets a station docking timeout threshold of 30 seconds. If no station docking completion receipt is generated within the station docking timeout threshold, an abnormal alarm message is generated and bound to the inbound / outbound station object identifier and the AGV docking object identifier. Specifically: In the formula: The AGV docking object identification code is The consistency judgment value of platform docking, It is the lateral deviation in the platform coordinate system direction. It is the longitudinal deviation in the platform coordinate system direction. It is the angular deviation in the platform coordinate system direction. It is the repeatability accuracy threshold constant, set It is the repeated positioning angle deviation threshold constant, set It is a normalized truncation function.

[0113] The intelligent warehouse control system is set to accept a threshold for connection. When the docking threshold is met, the warehouse intelligent control system writes a status tag indicating that the docking is complete at the station and allows the AGV docking object set to be loaded and leave the station.

[0114] Configure triggers for sending out detections and handing them over to the database, and perform collaborative orchestration for returning detections to the database.

[0115] The warehouse intelligent control system receives the return task reception message, and writes the material pallet identification code, material pallet size parameters, material pallet load parameters and target storage location node number into the return task reception message.

[0116] The intelligent warehouse control system converts the return task message into a standard task unit within the warehouse and writes it into the task queue. The intelligent warehouse control system schedules the AGV docking object set to deliver the material pallet identification code to the inbound and outbound station objects.

[0117] The entry and exit platform objects are subject to access control verification by the weighing and dimensional detection units. The weighing unit outputs the verification value of the pallet load parameter, and the dimensional detection unit outputs the verification value of the pallet size parameter. When the verification value of the pallet load parameter meets ≤1.5t and the verification value of the pallet size parameter meets 1400mm×1200mm, the warehouse intelligent control system writes the access control pass status tag.

[0118] The warehouse intelligent control system sets the threshold for the number of times access control verification can be repeated to 2. If the access control status tag is not met continuously within the threshold, the warehouse intelligent control system generates an abnormal alarm message and binds it to the material pallet identification code.

[0119] When the access control status tag is satisfied, the conveyor line object set receives the platform release instruction and sends the material pallet identification code to the conveyor channel node set. The shuttle object set completes the return to the warehouse and shelving action according to the target warehouse node number and outputs an execution receipt message. The execution receipt message is bound to the task identification code and the completion timestamp and enters the closed-loop message link.

[0120] In some specific implementations, the feedback readjustment evaluation module specifically includes: Configure execution receipt messages, solidify the closed-loop feedback link, set the abnormal trigger judgment threshold, and write the abnormal re-trigger status label.

[0121] The warehouse intelligent control system configures execution receipt messages in the closed-loop message link. The execution receipt message contains the task identifier code, task type identifier code, device object identifier code, execution result identifier code, completion timestamp, and exception type identifier code.

[0122] The shuttle object set, the hoist object set, and the conveyor object set report equipment operation status tags and node arrival status via the OPCUA data interface channel. The warehouse intelligent control system writes the equipment operation status tags and node arrival status into the execution receipt message and binds them with the task identifier code of the task issuance message, forming a closed-loop feedback link of task issuance message, warehouse execution, and execution receipt message.

[0123] The warehouse intelligent control system writes the mutex lock request timestamp and mutex lock grant timestamp into the mutex resource lock field. The mutex lock wait time parameter is as follows: In the formula: The shuttle object identification code is In the mutually exclusive resource node number is The mutex lock wait time parameter, It is the timestamp of the mutex lock acquisition. It is a timestamp granted by the mutex lock.

[0124] The warehouse intelligent control system has a fixed set of abnormal trigger judgment thresholds, which includes a mutex lock waiting time parameter threshold of 8s, a conveyor line pallet queue length parameter threshold of 6 pallets, and a hoist occupancy timeout threshold of 15s.

[0125] The mutex wait time parameter is satisfied When the length parameter of the pallet queue on the conveyor line is greater than 6 pallets, the warehouse intelligent control system writes an abnormal readjustment trigger status tag.

[0126] When the difference between the timestamp on the right end of the hoist time window parameter and the hoist occupation and release timestamp is greater than 15 seconds, the warehouse intelligent control system writes an abnormal readjustment trigger status tag.

[0127] Perform dynamic path recalculation and task reallocation, configure efficiency evaluation and parameter self-tuning closed loop.

[0128] When the abnormal readjustment trigger status label is established, the warehouse intelligent control system releases the mutex resource lock field's time window parameter and the discrete segment occupancy interval of the roadway discrete segment occupancy reservation table. The warehouse intelligent control system then uses path cost as the basis for its decision. Re-search for the shortest latency path node sequence and refresh the executable path to write the task dispatch message.

[0129] The intelligent warehouse control system reconstructs candidate allocation pairs based on the input set of the multi-vehicle collaborative scheduling algorithm and bases them on the collaborative allocation cost. Select the shuttle object identifier code again, regenerate the joint scheduling order, and synchronously update the hoist time window parameters and the conveyor handover time window parameters.

[0130] The standard task unit in the library with Priority=1 triggers the resource preemption rule. The resource preemption rule maintains the priority of the mutual exclusion resource lock field of the inspection task. The resource preemption rule writes the low-priority tasks that occupy the hoist time window parameter and the conveyor handover time window parameter into the delayed queue and releases the occupied time window parameter. The inspection task with Priority=1 continues to maintain the resource preemption right until the execution receipt message writes the execution result identifier code as the completion status identifier code.

[0131] The warehouse intelligent control system fixes the statistical cycle length threshold at 3600 seconds and counts the number of execution receipt messages with completed status identification codes within the statistical cycle length threshold. The specific access efficiency metrics are: In the formula: It is an access efficiency indicator, measured in trays per hour. It refers to the number of completed tasks corresponding to the status identification codes within a statistical period of 3600 seconds. One hour is calculated from the statistical period length threshold of 3600s.

[0132] Warehouse intelligent control system solidifies single-machine scheduling baseline efficiency indicators And calculate the improvement ratio, the specific improvement ratio is as follows: In the formula: It represents the improvement ratio of multi-vehicle collaborative scheduling, and is a dimensionless ratio value. It is a memory retrieval efficiency indicator for a statistical period. It is a single-machine scheduling baseline efficiency indicator.

[0133] The warehouse intelligent control system has a fixed increase rate threshold of 15% and a continuous statistical period count threshold of 3. The increase rate must meet the requirements for three consecutive statistical periods. Time-triggered parameter self-tuning updates the mutual exclusion time window granularity threshold, the transport channel congestion penalty coefficient, and the batch rapid removal threshold. The mutual exclusion time window granularity threshold is written into the joint scheduling order when it is in the range of 0.3s to 0.8s, and the transport channel congestion penalty coefficient is written into the path cost when it is in the range of 3.0 to 6.0. The batch rapid removal threshold is written to the batch removal sub-task unit for inspection and outbound processing when the batch is in the range of 4 to 8 pallets.

[0134] The warehouse intelligent control system establishes a fixed noise threshold of ≤75dB for shuttle car operation. When the noise level in the warehouse exceeds 75dB, a nighttime speed limit status label is written, and the upper limit parameter of the shuttle car object set's operating speed is fixed to 0.6m / s. The warehouse intelligent control system also establishes the nighttime period from 22:00 to 06:00. When the nighttime period is established, the threshold for the adjacent occupancy time interval is fixed to 0.6s and written into the segment occupancy reservation table of the roadway. During the nighttime period, a safe minimum operating rhythm is formed, and the closed-loop message link is continuously transmitted back to the execution receipt message.

[0135] In practical applications, the above describes the configuration of the equipment object model for the shuttle garage scheduling system. This involves establishing sets of shuttle car objects, hoist objects, conveyor line objects, inbound / outbound platform objects, automated racking objects, sorting station objects, manual sorting station objects, and AGV docking objects. Object identifiers and attribute fields are written for each object. Storage location dimensions and load limits are fixed to form task executability constraints. An internal topology map is constructed, and node-edge semantics are defined. Cross-lane track-changing nodes, layer-changing entrance nodes, and channel merging nodes are mapped to mutually exclusive resource lock fields. Shuttle cars use RFID addressing and a positioning error threshold is set. The scheduling layer establishes PLC channels, OPCUA channels, and MQTT channels to form a closed-loop link of task issuance messages, execution receipt messages, and abnormal alarm messages.

[0136] Generate standard task units within the warehouse, and write task identifier code, task type identifier code, planned completion timestamp, pallet identifier code, size parameters, load parameters, target warehouse location node number, and platform object identifier code. Perform executability checks on size and load. Out-of-bounds tasks trigger an exception alarm and block entry into the queue. Solidify the Priority discrete level and bind it to the inspection, return, pre-out, and inventory task queues. Calculate the task scheduling score and perform queue sorting. Define the automated racking buffer area and solidify the buffer occupancy threshold, batch removal threshold, and platform queuing threshold. Inspection and pre-out tasks complete pre-stocking in the buffer area and reduce the occupancy of inbound and outbound platforms.

[0137] Perform multi-vehicle collaborative scheduling, read Priority, task scheduling score, target node number, shuttle current position node number and shuttle running status label, read hoist occupancy status label, conveyor occupancy status label, platform queue length to form algorithm input set, calculate collaborative allocation cost based on candidate allocation pairs, use shuttle operation efficiency threshold to eliminate inefficient shuttles, write shuttle power supply parameters and charging trigger threshold into charging scheduling status label and release task occupancy label, Priority=1 enables resource preemption rule and releases low priority time window occupancy, write joint scheduling order into task issuance message, and align hoist time window parameters and conveyor handover time window parameters at the smallest granularity.

[0138] The system constructs a shortest-delay path search. The intelligent warehouse control system selects the shortest-delay path node sequence from the candidate path node sequence set and writes it into the joint scheduling order. The cross-lane track-changing node set, the hoist entrance node set, and the conveyor channel merging node set are written into the mutual exclusion resource lock field. The minimum granularity of the occupancy time window parameter is used for the discretization and alignment of node arrival timestamps. The lane passage edge set is mapped to the lane discrete segment segment number set and a segment occupancy reservation table is generated. The adjacent occupancy time interval threshold is used to form hard constraints. After the safety photoelectric trigger signal reaches the holding threshold, a forced stop status label is written and the mutual exclusion resource lock field and segment reservation interval are released. Subsequently, the path is recalculated and an executable path is output. The output content includes the path node sequence, node arrival timestamps, and mutual exclusion lock application sequence, and is synchronized to the hoist object set and conveyor line object set to complete the cycle alignment.

[0139] The process of sending goods for inspection and returning them to the warehouse is arranged. The sequence field of the inspection and return sequence is bound to the object identification code of the sorting station, the object identification code of the manual sorting station, the object identification code of the inbound / outbound station, and the object identification code of the AGV docking. The shuttle car completes the picking up and handing over to the conveyor line according to the path node sequence. When the conveyor line delivers the goods to the sorting station, it outputs a sorting mode label. When the sorting mode label points to the automatic sorting status label, a sorting completion status acknowledgment message is generated. When the sorting mode label points to the manual sorting status label, the conveyor line delivers the goods to the manual sorting station and generates a sorting completion status. Upon receiving the receipt message, the sorting timeout threshold triggers an abnormal alarm. After sorting is completed, a temporary storage and shelving task unit is generated and temporary storage and shelving are completed according to the warehouse positioning error threshold. After the inspection and outbound trigger message arrives, an inspection and outbound unshelving task unit is generated and handed over to the station. The station handover positioning judgment covers the AGV repeat positioning accuracy threshold, angle deviation threshold, and solidifies the station docking timeout threshold. The return to the warehouse task performs weighing detection and external dimension detection access control verification at the station and completes release and return to warehouse shelving receipt within the access control verification repetition number threshold.

[0140] The execution receipt message forms a closed-loop link. The execution receipt message is written with task identifier code, device object identifier code, execution result identifier code, completion timestamp, and exception type identifier code. The mutex lock queuing time threshold, conveyor line tray queue length threshold, and hoist occupancy timeout threshold trigger the exception readjustment status label. The scheduling layer releases the mutex resource lock field occupancy time window and Segment reservation interval and refreshes the path. The candidate allocation pair is reconstructed and a joint scheduling order is generated. Priority=1 maintains the resource preemption right until the completion status identifier code is returned. The statistical cycle length threshold is used to calculate access efficiency and compare it with the single machine scheduling baseline. The improvement ratio threshold and continuous statistical cycle count threshold trigger parameter self-tuning and update the mutex time window granularity threshold, conveyor channel congestion penalty coefficient, and batch rapid delisting batch threshold. The shuttle car running noise threshold triggers the night speed limit status label and solidifies the night time period and operating cycle safety guarantee constraint.

Claims

1. A shuttle parking garage dispatching system, characterized in that, Includes the following steps: The device object modeling module is used to configure the device object set, solidify the object identification rules, configure the object attribute fields, set the topology graph in the library and define the semantics of the node edge structure, set the mutually exclusive resource mapping relationship, set the RFID addressing and positioning benchmark, set the communication and interface protocol, and form a task closed-loop message link. The task priority allocation module is used to generate standard task units within the warehouse, solidify task priority fields, configure task queue structures, calculate task scheduling scores and perform sorting, and implement pre-shipment preparation mechanisms for inspection tasks and pre-outbound tasks. The multi-vehicle collaborative scheduling module is used to configure the input set of the multi-vehicle collaborative scheduling algorithm, form candidate allocation pairs, set the shuttle operation capacity threshold and charging trigger threshold, calculate the collaborative allocation cost, complete the task allocation, generate a joint scheduling order, and write it into the task distribution message. The dynamic path collision avoidance module is used to generate the shortest delay path node sequence, solidify the path cost function, set the mutual exclusion resource lock field time window reservation and cross-lane conflict avoidance, configure the lane discrete segment occupancy reservation table and adjacent time interval hard constraints, configure safe photoelectric linkage release and path recalculation and output an executable path. The inspection return to warehouse arrangement module is used to generate the inspection outbound collaborative arrangement sequence, execute the inspection outbound sorting collaboration, form a temporary storage and shelving closed loop, set the trigger for inspection outbound handover, and execute the inspection return to warehouse collaborative arrangement. The receipt re-adjustment evaluation module is used to configure execution receipt messages, solidify closed-loop feedback links, set abnormal trigger judgment thresholds, write abnormal re-adjustment trigger status labels, perform dynamic path recalculation and task reallocation, and configure efficiency evaluation and parameter self-tuning closed loop.

2. The shuttle garage dispatching system according to claim 1, characterized in that, The device object modeling module specifically includes: S100.1 Configure the set of device objects, solidify the object identification rules, configure the object attribute fields, set the topology graph in the library and define the semantics of the node edge structure, and set the mutual exclusive resource mapping relationship; Configure the equipment object model of the shuttle garage scheduling system, and establish the shuttle car object set, elevator object set, conveyor line object set, inbound and outbound platform object set, automated racking object set, sorting station object set, manual sorting table object set, and AGV docking object set; Assign an equipment object identifier code to each type of equipment object, assign a shuttle object identifier code to each shuttle car, assign a hoist object identifier code to each hoist, assign a conveyor object identifier code to each section of the conveyor line, and assign an inbound / outbound station object identifier code to each inbound / outbound station. These are used for binding scheduling instructions, binding status receipts, and tracing back abnormal alarms. Configure the shuttle object set with the current shuttle location node number, target shuttle node number, shuttle running status label, shuttle load status label, and shuttle task occupancy label; configure the elevator floor number, elevator target floor number, elevator occupancy status label, and elevator queue length parameter; configure the conveyor line entrance node number, conveyor line exit node number, conveyor line occupancy status label, and conveyor line pallet queue length parameter; configure the platform operation status label and platform queue length parameter; configure the storage location node number, storage location occupancy status label, storage location load limit parameter, and storage location size parameter. Fix the storage location size parameter to 1400mm×1200mm and the storage location load limit parameter to ≤1.5t. The storage location size parameter and storage location load limit parameter are used to form task executability constraints. Task executability constraints are used to prevent oversized pallet tasks and overloaded pallet tasks from entering the scheduling queue. A warehouse topology map is constructed, which uses a node-edge structure to represent the passage relationships within the warehouse. The node set includes the set of nodes for the automated racking aisles, the set of nodes for cross-aisle track changing, the set of nodes for elevator level changing, the set of nodes for conveyor channels, and the set of nodes for inbound and outbound platforms. The edge set includes the set of edges for aisle passage, the set of edges for cross-aisle track changing, the set of edges for elevator level changing, the set of edges for conveyor channels, and the set of edges for platform handover. The node-edge structure provides a traversable graph for dynamic path planning, and the traversable graph provides a path search space for multi-vehicle collaborative scheduling algorithms. Node numbers and edge numbers are used to form a traceable path node sequence, and the path node sequence is used to drive the shuttle object set to execute the inbound shelving path, the outbound retrieval path, and the platform handover path. The cross-lane track-changing node, hoist level-changing node, conveyor channel merging node, and warehouse entry / exit platform handover node are defined as a set of mutually exclusive resource nodes. The set of mutually exclusive resource nodes is used to express the conflict-sensitive locations when multiple vehicles are running across lanes. The set of mutually exclusive resource nodes is mapped to a mutually exclusive resource lock field in the object model. S100.

2. Set the RFID addressing and positioning benchmark, set the communication and interface protocol, and form a task closed-loop message link; Configure the positioning and identification benchmark of the shuttle object set. The shuttle object set uses RFID addressing to identify the nodes in the warehouse. RFID addressing is used to output the node number of the current position of the shuttle. Set the positioning error threshold in the warehouse to ≤±5mm. The positioning error threshold in the warehouse is used as the positioning criteria for warehouse entry and shelving and the positioning criteria for handover. Configure the intelligent warehouse control system and the instruction and status channels for shuttle car object sets, hoist object sets, and conveyor line object sets. The instruction and status channels are composed of PLC field control channels, OPCUA data interface channels, and MQTT message channels. The PLC field control channels are used to issue motion execution instructions and mutex lock occupancy instructions. The OPCUA data interface channels are used to report equipment operating status tags and node arrival status. The MQTT message channels are used to report task events and abnormal alarm events. A closed-loop message chain is formed, consisting of task issuance messages, execution receipt messages, and exception alarm messages. The task issuance message is bound to the task identifier code and the device object identifier code, the execution receipt message is bound to the task identifier code and the completion timestamp, and the exception alarm message is bound to the device object identifier code and the exception type identifier code.

3. The shuttle garage dispatching system according to claim 1, characterized in that, The task priority allocation module includes: S200.1 Generate standard task units within the library, solidify the task priority field, configure the task queue structure, calculate task scheduling scores, and perform sorting. The power grid management platform's supply chain domain sends pre-out tasks, inventory tasks, inspection tasks, and return tasks to the warehouse intelligent control system. The warehouse intelligent control system generates a task receiving message for each task, which includes the task identifier code, task type identifier code, task generation timestamp, planned completion timestamp, material pallet identifier code, material pallet size parameters, material pallet load parameters, target warehouse location node number, and inbound / outbound platform object identifier code. The intelligent warehouse control system converts the received task messages into standard task units within the warehouse and performs task executability constraint verification. The task executability constraint consists of the warehouse location size parameter of 1400mm×1200mm and the warehouse location load limit parameter of ≤1.5t. When the material pallet size parameter exceeds 1400mm×1200mm or the material pallet load parameter exceeds 1.5t, an abnormal alarm message is generated and bound to the task identification code. The abnormal alarm message enters the closed-loop message link, and the standard task unit within the warehouse is not written into the task queue. The warehouse intelligent control system writes a task priority field Priority∈{1,2,3,4} into the standard task unit in the warehouse. The inspection task corresponds to Priority=1, the return task corresponds to Priority=2, the pre-outbound task corresponds to Priority=3, and the inventory task corresponds to Priority=4. The intelligent warehouse control system constructs task queues and maintains the units within the task queues as standard task units within the warehouse. The task queues include inspection task queues, return task queues, pre-outbound task queues, and inventory task queues. The intelligent warehouse control system calculates a task scheduling score for each standard task unit within the warehouse, and the task scheduling score is used for sorting within the task queue. The warehouse intelligent control system sorts the task queues from largest to smallest according to the task scheduling score. When the difference in task scheduling scores is less than 0.05, the tasks are sorted from earliest to latest according to their generation timestamp. S200.2, Pre-shipment preparation mechanism for inspection tasks and pre-shipment preparation mechanism for outbound tasks; The intelligent warehouse control system defines a buffer zone for the automated racking system within the set of racking system objects. The buffer zone is composed of a set of buffer zone location nodes. The intelligent warehouse control system sets the buffer zone reservation ratio for inspection tasks to be 20%, the buffer zone reservation ratio for pre-outbound tasks to be 15%, and the buffer zone occupancy threshold to be 85%. When there is a standard task unit in the warehouse with Priority=1 in the inspection task queue, the warehouse intelligent control system will split the inspection task into a picking sub-task unit and a cache shelving sub-task unit. The target warehouse location node number of the cache shelving task unit points to the idle warehouse location node number of the cache area warehouse location node set. The warehouse intelligent control system sets the batch rapid destocking threshold to 6 pallets. When the buffer area accumulates 6 pallets for inspection, the warehouse intelligent control system generates a batch destocking task unit for inspection and puts it at the top of the task queue. When the buffer area occupancy rate reaches 85%, the warehouse intelligent control system stops adding new batch destocking task units for inspection and maintains the sorting of the inspection task queue. When there are standard task units in the warehouse with Priority=3 in the pre-outbound task queue, the warehouse intelligent control system will split the pre-outbound task into a picking sub-task unit and a pre-outbound cache shelving sub-task unit. The target warehouse location node number of the pre-outbound cache shelving task unit points to the idle warehouse location node number in the pre-outbound cache area.

4. A shuttle garage dispatching system according to claim 1, characterized in that, The multi-vehicle collaborative scheduling module specifically includes: S300.1 Configure the input set of the multi-vehicle cooperative scheduling algorithm, form candidate allocation pairs, set the shuttle operation capacity threshold and charging trigger threshold, calculate the cooperative allocation cost, and complete the task allocation. The intelligent warehouse control system reads standard task units within the warehouse from the task queue; it reads the shuttle's current position node number, shuttle running status label, shuttle load status label, shuttle task occupancy label, and remaining endurance time parameter from the shuttle object set; it reads the elevator occupancy status label and elevator queue length parameter from the elevator object set; it reads the conveyor line occupancy status label and conveyor line pallet queue length parameter from the conveyor line object set; and it reads the platform queue length parameter from the inbound / outbound platform objects. The intelligent warehouse control system sets the shuttle operation efficiency threshold to ≥30 trays / hour. The shuttle operation efficiency threshold is used to restrict the shuttle object identification code from entering the candidate allocation pair set. The intelligent warehouse control system sets the shuttle power supply parameters to 48V / 40Ah, the shuttle endurance parameter to 8h, and the shuttle charging time parameter to 1~2h. The intelligent warehouse control system sets the charging trigger threshold to the remaining range time parameter <45min. When the remaining range time parameter meets the charging trigger threshold, the intelligent warehouse control system switches the shuttle's running status label to the charging scheduling status label and removes the shuttle's task occupancy label. The shuttle object identification code exits the candidate allocation pair set and enters the charging pile queue. The warehouse intelligent control system calculates the collaborative allocation cost for candidate allocation pairs. The collaborative allocation cost is used to select the shuttle object identification code to execute. The warehouse intelligent control system selects the shuttle object identifier code with the lowest collaborative allocation cost from the candidate allocation pair set to complete the task allocation. When the priority field Priority=1 corresponds to the inspection task, the warehouse intelligent control system activates the forced queue rule. The forced queue rule sets the queue time window threshold to 20s. Within the queue time window threshold, low-priority tasks that occupy the time window parameters of the elevator and the handover time window parameters of the conveyor line are put into the delayed queue and the occupied time window parameters are released. S300.

2. Generate a joint scheduling order and write it into the task distribution message; The warehouse intelligent control system generates a joint scheduling order for the task identification code. The joint scheduling order includes the execution shuttle object identification code, path node sequence, elevator time window parameters, conveyor line handover time window parameters, and inbound / outbound platform handover sequence. The warehouse intelligent control system sets the time window granularity threshold to 0.5s. The time window parameters of the hoist and the handover time window parameters of the conveyor are aligned with the occupancy time window parameters of the mutually exclusive resource lock field at a granularity of 0.5s.

5. A shuttle garage dispatching system according to claim 1, characterized in that, The dynamic path avoidance module specifically includes: S400.1 Generate the shortest delay path node sequence and solidify the path cost function, set the mutual exclusion resource lock field time window reservation and cross-lane conflict avoidance; The intelligent warehouse control system is based on the node-edge structure and traversable graph of the warehouse topology. It generates a candidate path node sequence based on the combination of shuttle object identifier code and task identifier code. The candidate path node sequence connects the current position node number of the shuttle to the target warehouse location node number or the entry / exit platform object node number. The intelligent warehouse control system sets the cross-lane track switching time penalty parameter to 3.0s, the hoist layer switching waiting time penalty parameter to 5.0s, the conveyor channel congestion penalty coefficient to 4.0, and the path delay normalization threshold to 180s. The intelligent warehouse control system selects from the candidate path node sequence set. The sequence of path nodes with the smallest minimum delay is written into the joint scheduling form as the sequence of path nodes with the shortest delay. The intelligent warehouse control system calls a set of mutually exclusive resource nodes, which includes a set of cross-lane track-changing nodes, a set of hoist entrance nodes, and a set of conveyor channel merging nodes. The intelligent warehouse control system sets the minimum granularity of the occupancy time window parameter to 0.5s. The minimum granularity of the occupancy time window parameter is used to discretize and round the node arrival timestamp. The intelligent warehouse control system writes the node number, the occupancy shuttle object identifier code, and the occupancy time window parameter into the mutually exclusive resource lock field. The mutually exclusive resource lock field outputs the mutually exclusive lock occupancy command into the PLC field control channel. S400.2 Configure the segment occupancy reservation table and hard constraints for adjacent time intervals in the roadway discrete segment, configure the safety photoelectric linkage release and path recalculation and output the executable path; The intelligent warehouse control system maps the set of lane passage edges to a set of lane discrete segment numbers with a fixed length. The set of lane discrete segment numbers is used to construct a lane occupancy reservation table. The intelligent warehouse control system writes the lane discrete segment entry time stamp and discrete segment exit time stamp to the lane discrete segment number. The discrete segment entry time stamp and discrete segment exit time stamp are aligned with the minimum granularity of 0.5s according to the occupancy time window parameter. The warehouse intelligent control system sets the threshold for the time interval between adjacent occupancy to 0.3s. 0.3s is used to constrain the safe interval for consecutive occupancy of discrete segments with the same lane number. The shuttle object set is equipped with safety photoelectric sensors. The safety photoelectric sensors output obstacle trigger signals. The warehouse intelligent control system receives the obstacle trigger signals via the MQTT message channel and generates an abnormal alarm message. The warehouse intelligent control system sets the threshold for the effective holding time of obstacle triggering to 0.15s. When the obstacle trigger signal is held continuously for 0.15s, the warehouse intelligent control system writes a forced deceleration status label or a forced stop status label. The warehouse intelligent control system releases the time window parameters of the mutually exclusive resource lock field and the discrete segment occupancy interval of the lane occupancy reservation table, and based on... Re-search for the shortest delay path node sequence.

6. A shuttle garage dispatching system according to claim 1, characterized in that, The inspection return and storage arrangement module specifically includes: S500.1 Generate a collaborative arrangement sequence for inspection and outbound processing, execute collaborative inspection and outbound sorting, and form a closed loop for temporary storage and shelving. The warehouse intelligent control system reads the standard task unit in the warehouse with Priority=1 from the inspection task queue. The warehouse intelligent control system writes the inspection return to warehouse arrangement sequence field into the task issuance message. The inspection return to warehouse arrangement sequence field includes the sorting station object identification code, the manual sorting table object identification code, the inbound / outbound station object identification code, and the AGV docking object identification code. The intelligent warehouse control system reads the idle storage location node number of the buffer storage location node set from the set of automated racking objects. The intelligent warehouse control system writes the idle storage location node number of the buffer storage location node set into the temporary storage target storage location node number field. The temporary storage target storage location node number field is used for temporary storage and shelving arrangement after the inspection and sorting are completed. The warehouse intelligent control system sends task distribution messages to the shuttle object set. The shuttle object set arrives at the target storage location node number according to the path node sequence and completes the material pallet identification code retrieval action. The shuttle object set transfers the material pallet identification code to the conveyor channel node set and hands it over to the conveyor line object set. The conveyor line object set sends the material pallet identification code to the sorting station object set based on the conveyor line inlet node number and the conveyor line outlet node number. The sorting station object set outputs the sorting method label, and the sorting method label takes the values ​​of automatic sorting status label and manual sorting status label. When the sorting method label is the automatic sorting status label, the sorting station object set completes the destination station attribution writing and outputs a sorting completion status receipt message. When the sorting method label is the manual sorting status label, the conveyor line object set delivers the material pallet identification code to the manual sorting station object set, and the manual sorting station object set completes the destination station attribution writing and outputs a sorting completion status receipt message. The intelligent warehouse control system receives the inspection and outbound trigger message. The inspection and outbound trigger message is bound to the task identifier code and the inbound / outbound platform object identifier code. The intelligent warehouse control system generates an inspection and outbound removal task unit for the material pallet identifier code associated with the node number of the temporary storage target storage location. The inspection and outbound removal task unit is written into the task issuance message and drives the shuttle object set to transfer the material pallet identifier code to the inbound / outbound platform object. The entry and exit platform objects perform platform handover positioning judgment. The platform handover positioning judgment includes the AGV repeat positioning accuracy threshold ±10mm and the AGV repeat positioning angle deviation threshold ±1°. The entry and exit platform objects are configured with a guarding structure and a guide correction wheel structure. The guarding structure and the guide correction wheel structure are used to constrain the consistency of the handover posture of the material pallet identification code. The warehouse intelligent control system schedules the AGV docking object identification code into the station handover sequence from the AGV docking object set. The warehouse intelligent control system sets the station docking timeout threshold to 30 seconds. If no station docking completion receipt is generated within the station docking timeout threshold, an abnormal alarm message is generated and the inbound / outbound station object identification code and AGV docking object identification code are bound. The intelligent warehouse control system is set to accept a threshold for connection. When the docking threshold is met, the warehouse intelligent control system writes a status tag indicating that the handover of the AGV has been completed and allows the AGV docking object set to be loaded and leave the station. S500.

2. Set up trigger to send detection out of the warehouse and perform collaborative arrangement of detection return to the warehouse; The warehouse intelligent control system receives the return task reception message and writes the material pallet identification code, material pallet size parameters, material pallet load parameters and target storage location node number into the return task reception message. The intelligent warehouse control system converts the return task message into a standard task unit within the warehouse and writes it into the task queue. The intelligent warehouse control system schedules the AGV docking object set to deliver the material pallet identification code to the inbound and outbound station objects. The entry and exit platform objects are subject to access control verification by the weighing detection unit and the external dimension detection unit. The weighing detection unit outputs the verification value of the pallet load parameter, and the external dimension detection unit outputs the verification value of the pallet size parameter. When the verification value of the pallet load parameter meets ≤1.5t and the verification value of the pallet size parameter meets 1400mm×1200mm, the warehouse intelligent control system writes the access control pass status tag. The warehouse intelligent control system sets the threshold for the number of times access control verification can be repeated to 2. If the access control status tag is not met continuously within the threshold, the warehouse intelligent control system generates an abnormal alarm message and binds it to the material pallet identification code.

7. A shuttle garage dispatching system according to claim 1, characterized in that, The feedback readjustment evaluation module specifically includes: S600.1 Configure execution receipt messages, solidify closed-loop feedback links, set abnormal trigger judgment thresholds, and write abnormal re-trigger status tags. The warehouse intelligent control system configures execution receipt messages in the closed-loop message link. The execution receipt message contains the task identifier code, task type identifier code, equipment object identifier code, execution result identifier code, completion timestamp, and exception type identifier code. The shuttle object set, the hoist object set, and the conveyor line object set report the equipment operation status tag and node arrival status respectively through the OPCUA data interface channel. The warehouse intelligent control system writes the equipment operation status tag and node arrival status into the execution receipt message and binds it with the task identification code of the task issuance message, forming a closed-loop feedback link of task issuance message, warehouse execution, and execution receipt message. The warehouse intelligent control system writes the mutex lock request timestamp and the mutex lock grant timestamp into the mutex resource lock field. The warehouse intelligent control system has a fixed set of abnormal trigger judgment thresholds, which includes a mutex lock waiting time parameter threshold of 8s, a conveyor line pallet queue length parameter threshold of 6 pallets, and a hoist occupancy timeout threshold of 15s. The mutex wait time parameter is satisfied When the length parameter of the pallet queue on the conveyor line is greater than 6 pallets, the warehouse intelligent control system writes an abnormal readjustment trigger status tag. S600.

2. Perform dynamic path recalculation and task reallocation, configure efficiency evaluation and parameter self-tuning closed loop; When the abnormal readjustment trigger status label is established, the warehouse intelligent control system releases the mutex resource lock field's time window parameter and the discrete segment occupancy interval of the roadway discrete segment occupancy reservation table. The warehouse intelligent control system then uses path cost as the basis for its decision. Re-search for the shortest latency path node sequence and refresh the executable path, then write the task to the dispatch message. The intelligent warehouse control system reconstructs candidate allocation pairs based on the input set of the multi-vehicle collaborative scheduling algorithm and bases them on the collaborative allocation cost. Select the shuttle object identifier code again, regenerate the joint scheduling order, and synchronously update the hoist time window parameters and the conveyor line handover time window parameters. The warehouse intelligent control system fixes the statistical cycle length threshold at 3600 seconds and counts the number of execution receipt messages with completed status identification codes within the statistical cycle length threshold. ; Warehouse intelligent control system solidifies single-machine scheduling baseline efficiency indicators And calculate the increase ratio; The warehouse intelligent control system has a fixed increase rate threshold of 15% and a continuous statistical period count threshold of 3. The increase rate must meet the requirements for three consecutive statistical periods. Time-triggered parameter self-tuning updates the mutual exclusion time window granularity threshold, the transport channel congestion penalty coefficient, and the batch rapid removal threshold. The mutual exclusion time window granularity threshold is written into the joint scheduling order when it is in the range of 0.3s to 0.8s, and the transport channel congestion penalty coefficient is written into the path cost when it is in the range of 3.0 to 6.

0. The batch rapid removal threshold is written to the batch removal sub-task unit for inspection and outbound processing when the batch is in the range of 4 to 8 pallets. The warehouse intelligent control system establishes a fixed noise threshold of ≤75dB for shuttle car operation. When the noise level in the warehouse exceeds 75dB, a nighttime speed limit status label is written, and the upper limit parameter of the shuttle car object set's operating speed is fixed to 0.6m / s. The warehouse intelligent control system also establishes the nighttime period from 22:00 to 06:

00. When the nighttime period is established, the threshold for the adjacent occupancy time interval is fixed to 0.6s and written into the segment occupancy reservation table of the roadway. During the nighttime period, a safe minimum operating rhythm is formed, and the closed-loop message link is continuously transmitted back to the execution receipt message.

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