Automatic three-dimensional refrigeration house temperature field adjusting equipment and control method thereof

Abstract

The invention relates to the technical field of cold-chain logistics warehousing, and provides automatic three-dimensional refrigeration house temperature field adjusting equipment and a control method thereof.The equipment comprises an air guide pipe which is arranged on a stacking machine and extends in the height direction of the stacking machine, and a plurality of air return openings formed in the height direction of the stacking machine at intervals are formed in the air guide pipe; an air outlet is formed in the top of the air guide pipe; the driving mechanism communicates with the air guide pipe and is used for driving air to enter from the air return opening and to be guided out from the air outlet; the temperature detection mechanism is arranged in the refrigeration house and used for detecting temperature information of the refrigeration house; and the control system is electrically connected with the stacking machine, the driving mechanism and the temperature detection mechanism. According to the automatic three-dimensional refrigeration house temperature field adjusting equipment, the inherent dimensional moving capacity of a stacking machine is utilized, and a new environment adjusting and controlling function is added to the automatic three-dimensional refrigeration house temperature field adjusting equipment. And meanwhile, through intelligent decision making of the control system, the cold storage is changed from static environment maintenance to dynamic environment, active management of the changing environment is achieved, and the intelligent level and the self-adaptive capacity of the warehousing system are improved.

Description

Technical Field

[0001] This invention relates to the field of cold chain logistics warehousing technology, and in particular to an automated three-dimensional cold storage temperature field regulation device and its control method. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) are warehousing facilities within modern cold chain logistics systems. They achieve high-density storage and automated retrieval of goods through high-rise racking, stacker cranes, and automatic control systems. Maintaining a uniform and stable temperature field within the storage space is one of the key factors in ensuring the quality and safety of stored goods in a low-temperature storage environment.

[0003] Currently, temperature control in automated cold storage primarily relies on fixed refrigeration and air supply systems. Typically, cold air generated by refrigeration units is delivered into the storage room through ducts and vents located at the top or specific positions, relying mainly on density differences and limited convection for diffusion to distribute cold air throughout the storage space. Stacker cranes in this system function solely as handling equipment for retrieving goods. However, due to the obstruction of densely packed shelves and the goods themselves, the cold airflow relying on natural convection and limited diffusion struggles to effectively penetrate deep into the shelves, reach the bottom of the aisles, and reach the corners of the storage area. This results in temperatures significantly higher than set values ​​in different storage locations, especially areas far from the air vents, creating temperature dead zones or localized hotspots, severely impacting the storage safety of temperature-sensitive items. Existing systems represent a static, passive temperature control mode. Their air supply location, volume, and direction are usually fixed or pre-set, unable to actively adjust according to real-time, dynamic temperature distribution changes within the storage room. For example, when warehouse doors are opened due to goods storage or retrieval operations, or when localized goods become hot, the system cannot provide rapid and precise compensatory airflow to the disturbed hot areas. It can only respond by lowering the overall temperature setpoint or extending the cooling time, resulting in low efficiency. Furthermore, to ensure that storage requirements are met even in these temperature dead zones, the refrigeration system often needs to operate at high intensity for extended periods to maintain a lower overall average temperature. This leads to over-cooling in other areas of the warehouse, resulting in significant energy waste. Meanwhile, the stacker crane, as the only piece of equipment capable of large-scale movement in three-dimensional space, is limited to goods handling; its mobility is not used to improve the environment, resulting in low overall equipment utilization efficiency. Summary of the Invention

[0004] This invention provides an automated three-dimensional cold storage temperature field regulation device and its control method to solve the problems of uneven temperature field, low energy efficiency, large limitations of passive regulation and single function of existing automated three-dimensional cold storage using refrigeration air supply systems.

[0005] This invention provides an automated three-dimensional cold storage temperature field control device, applied to a stacker crane with lifting and horizontal movement functions. The automated three-dimensional cold storage temperature field control device includes: An air duct is installed on the stacker crane and extends along the height direction of the stacker crane. Multiple return air ports are formed on the air duct at intervals along the height direction of the stacker crane, and an air outlet is provided at the top of the air duct. A drive mechanism, connected to the air duct, is used to drive air to enter through the return air inlet and exit through the air outlet. Temperature detection equipment is installed in the cold storage to detect the temperature information of the cold storage. The control system, electrically connected to the stacker crane, the drive mechanism, and the temperature detection mechanism, is configured to determine, based on the temperature information, a target area with an abnormal temperature within the cold storage, control the stacker crane to move to the target area, and control the drive mechanism to start and stop, so as to agitate the airflow in the target area.

[0006] According to the present invention, an automated three-dimensional cold storage temperature field adjustment device is provided, wherein the control system is configured to control the stacker crane and the drive mechanism to perform one of a fixed-point stirring mode, a motion stirring mode, and a cooperative stirring mode; In the fixed-point agitation mode, the control system is configured to control the stacker crane to start the drive mechanism after it moves to the target area, to perform fixed-point agitation on the target area, and to disturb the air along the movement path by moving the air duct. In the motion agitation mode, the control system is configured to control the stacker crane to move to the target area and control the drive mechanism to remain closed, and to agitate the air along the movement path by moving the air duct. In the cooperative agitation mode, the control system is configured to control the stacker crane to move to the target area, control the drive mechanism to remain open, agitate the air in the movement path, and disturb the air in the movement path by moving the air duct.

[0007] According to the present invention, an automated three-dimensional cold storage temperature field adjustment device is provided, wherein the driving mechanism is a fan installed inside the air guide duct, and the fan is an axial flow fan or a centrifugal fan.

[0008] According to the present invention, an automated three-dimensional cold storage temperature field regulation device is provided, wherein the temperature detection mechanism includes temperature sensors arranged at multiple preset points in the cold storage, and the temperature information includes temperature data detected by each of the temperature sensors.

[0009] The present invention provides a control method for an automated three-dimensional cold storage temperature field regulation device, comprising the following steps: Receive task trigger command; In response to the task triggering command, the target area for the temperature agitation task to be performed is determined; Control the stacker crane to move to the target area; The control drive mechanism starts and stops to drive airflow through the air duct and agitate the airflow in the target area.

[0010] According to the control method of an automated three-dimensional cold storage temperature field regulation device provided by the present invention, the step of performing airflow agitation includes one of a fixed-point agitation mode, a motion agitation mode, and a cooperative agitation mode; In the fixed-point agitation mode, after the stacker crane moves to the target area, the drive mechanism is activated to agitate the target area at a fixed point, and the movement of the air duct is used to disturb the air along the movement path. In the motion agitation mode, the stacker crane is controlled to move to the target area, and the drive mechanism is controlled to remain closed, using the movement of the air duct to agitate the air along the movement path; In the cooperative agitation mode, the stacker crane is controlled to move to the target area, the drive mechanism is kept open to agitate the air in the movement path, and the movement of the air duct is used to disturb the air in the movement path.

[0011] According to the control method of an automated three-dimensional cold storage temperature field adjustment device provided by the present invention, the task triggering command is generated by at least one of the following methods: based on the temperature information detected by the temperature detection mechanism, based on a preset time period, or based on the task scheduling status of the stacker crane.

[0012] According to a control method for an automated three-dimensional cold storage temperature field regulation device provided by the present invention, the step of determining the target area for performing a temperature agitation task based on the temperature information detected by the temperature detection mechanism includes: Compare the temperature data detected by each temperature sensor with the preset temperature threshold. The area where the sensor's temperature data continuously exceeds the preset temperature threshold is determined to be the target area with abnormal temperature.

[0013] According to a control method for an automated three-dimensional cold storage temperature field conditioning device provided by the present invention, after the step of agitating the airflow in the target area, the method further includes: Based on the real-time temperature change of the target area reported by the temperature detection agency, or based on the preset agitation duration, determine whether the stop condition has been met. If the stopping condition is met, the control drive mechanism will stop operating.

[0014] According to a control method for an automated three-dimensional cold storage temperature field regulation device provided by the present invention, the step of controlling the stacker crane to move to the target area includes: When a stacker crane needs to simultaneously perform a goods storage and retrieval task from the warehouse management system and a temperature agitation task determined based on the temperature information, the two tasks are sorted and / or the paths are optimized to control the execution order and movement path of the stacker crane.

[0015] The automated three-dimensional cold storage temperature field adjustment equipment and control method provided by this invention, through the integrated air duct and drive mechanism on the stacker crane, combined with temperature detection and intelligent control, can drive the stacker crane directly to the target area with abnormal temperature and start agitation. This mobile precision air delivery mode can effectively break the temperature dead zones formed by the obstruction of the shelves, directly intervene in local hot spots, thereby significantly improving the uniformity and stability of the temperature field of the entire cold storage space, greatly improving the storage quality and safety of goods. Because it can perform targeted and efficient agitation and equalization of abnormal temperature areas, it is no longer necessary to lower the temperature setpoint of the entire cold storage or run the refrigeration system at high intensity for a long time in order to ensure the low temperature of a few hot spots. This allows the refrigeration system to operate under more optimal and economical conditions, avoiding global over-cooling, and is expected to effectively reduce the overall energy consumption of the cold storage.

[0016] Meanwhile, the automated three-dimensional cold storage temperature field control equipment utilizes the inherent mobility of the stacker crane, adding a new environmental control function, achieving dual-purpose functionality and improving the overall utilization rate of the equipment. Simultaneously, through intelligent decision-making by the control system, the cold storage transforms from static environmental maintenance to dynamic, responsive, and proactive environmental management, enhancing the intelligence and adaptability of the entire warehousing system. For upgrading existing automated three-dimensional cold storage facilities, this invention can be achieved primarily by adding air ducts, drive mechanism modules, and upgrading the control system software, without requiring large-scale modifications to the storage structure, rack layout, or main refrigeration system. This add-on upgrade solution is easy to implement, has a short cycle time, and is far less expensive than building a new independent dynamic air duct system, demonstrating good economic efficiency and feasibility, making it easy to promote and apply in existing cold chain storage facilities. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is an installation diagram of the palletizing machine and automated three-dimensional cold storage temperature field adjustment equipment provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the automated three-dimensional cold storage temperature field adjustment equipment provided by the present invention installed on a palletizer.

[0020] Figure 3 This is a physical image of the automated three-dimensional cold storage temperature field adjustment equipment provided by the present invention installed on a palletizer.

[0021] Figure 4 This is a flowchart illustrating the control method of the automated three-dimensional cold storage temperature field regulation equipment provided by the present invention.

[0022] Figure 5 This is a schematic diagram of the operation of the automated three-dimensional cold storage temperature field regulation equipment provided by the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0024] Figure label: 1. Stacker crane; 2. Air duct; 21. Air outlet; 22. Air return outlet; 3. Shelf; 610. Processor; 620. Communication interface; 630. Memory; 640. Communication bus. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The following is combined with Figures 1 to 5 This invention describes the automated three-dimensional cold storage temperature field regulation equipment and its control method.

[0027] This invention provides an automated three-dimensional cold storage temperature field control device, such as... Figures 1 to 3 As shown, the automated three-dimensional cold storage temperature field control equipment is applied to a stacker crane 1, which has lifting and horizontal movement functions. The automated three-dimensional cold storage temperature field control equipment includes: air duct 2, drive mechanism, temperature detection mechanism, and control system.

[0028] Specifically, the palletizer is movably mounted on one side of the rack 3, and the air duct 2 is fixedly installed on the side of the stacker 1 (e.g., one or both sides along the aisle direction). Its main body extends along the lifting height direction (i.e., the Z-axis direction) of the stacker 1, and its length is typically close to or slightly greater than the maximum lifting height of the stacker 1 to cover the entire vertical space of the rack 3. The cross-section of the air duct 2 can be rectangular or circular, depending on the structure of the stacker 1. Multiple return air inlets 22 are spaced apart along the height of the air duct 2. These return air inlets 22 are used to draw in air from the surrounding area when the equipment is operating. The size, shape, and distribution density of the return air inlets 22 can be optimized; for example, denser or larger return air inlets 22 can be placed near the lower part of the rack 3 to specifically address the problem of temperature dead zones easily formed at the bottom. The top of the air duct 2 has a main air outlet 21, which is designed to form an air jet with a certain direction and velocity. Preferably, the air duct 2 is made of heat-insulating material or covered with an external heat-insulating layer to prevent condensation from forming on the duct wall in a low-temperature environment, avoid condensate dripping and affecting the goods, and reduce the loss of cold energy through the duct wall.

[0029] The drive mechanism is connected to the air duct 2 and provides power for airflow. The drive mechanism drives air to enter through the return air inlet 22 and exit through the air outlet 21. Temperature monitoring agencies are responsible for sensing the temperature distribution within the cold storage facility in real time. These agencies continuously or periodically collect temperature data at their locations, thereby generating temperature information reflecting the overall temperature field distribution within the cold storage.

[0030] The control system, acting as the brain of the entire equipment, is electrically or communicatively connected to the existing controller, drive mechanism, and temperature detection mechanism of the stacker crane 1. Its function is intelligent decision-making and coordinated control. Specifically, the control system is configured to execute the following logic: First, it receives and processes temperature information from the temperature detection mechanism, and through analysis (e.g., comparing the temperature at each point with a set threshold, or analyzing the temperature gradient distribution), determines whether there is a target area with abnormal temperature (such as a localized overheating zone or a temperature dead zone) within the cold storage. Once the target area is identified, the control system generates a "temperature field adjustment task." Next, it schedules the stacker crane 1 carrying the equipment, controlling its horizontal movement (along the X-axis aisle direction) and vertical lifting (along the Z-axis height direction) to move to the spatial position corresponding to the target area. Finally, during the process of stacker crane 1 being positioned or moving in a specific mode, the control system controls the drive mechanism (fan) to start or work in a specific mode, driving air to flow through the air duct 2, drawing in air from the target area and surrounding air from the return air inlet 22, and discharging it from the top air outlet 21, thereby forming a forced air circulation and intense mixing in the target area, effectively breaking the original temperature stratification or static state of the area.

[0031] The automated three-dimensional cold storage temperature field adjustment equipment provided by this invention, through the air duct 2 and drive mechanism integrated on the stacker crane 1, combined with temperature detection and intelligent control, can drive the stacker crane 1 directly to the target area with abnormal temperature and start agitation. This mobile precision air delivery mode can effectively break the temperature dead zone formed by the obstruction of the rack 3, directly intervene in local hot spots, thereby significantly improving the uniformity and stability of the temperature field of the entire cold storage space, greatly improving the storage quality and safety of goods. Because it can perform targeted and efficient agitation and equalization of abnormal temperature areas, it is no longer necessary to lower the temperature setpoint of the entire cold storage or run the refrigeration system at high intensity for a long time in order to ensure the low temperature of a few hot spots. This allows the refrigeration system to work under more optimal and economical conditions, avoiding global over-cooling, and is expected to effectively reduce the overall energy consumption of the cold storage.

[0032] Meanwhile, the automated three-dimensional cold storage temperature field regulation equipment utilizes the inherent mobility of the stacker crane 1, adding a new environmental control function, achieving dual-purpose functionality and improving the overall utilization rate of the equipment. Simultaneously, through intelligent decision-making by the control system, the cold storage transforms from static environmental maintenance to dynamic, responsive, and proactive environmental management, enhancing the intelligence level and adaptability of the entire warehousing system. For upgrading existing automated three-dimensional cold storage facilities, this invention can be achieved primarily by adding air ducts 2, drive mechanism modules, and upgrading the control system software, without requiring large-scale modifications to the storage structure, shelving layout 3, or main refrigeration system. This add-on modification scheme is easy to implement, has a short cycle time, and is far less expensive than building a new independent dynamic air duct system, demonstrating good economic efficiency and feasibility, making it easy to promote and apply in existing cold chain storage facilities.

[0033] In some embodiments, the control system is configured to control the stacker crane 1 and the drive mechanism to perform one of a fixed-point agitation mode, a motion agitation mode, and a cooperative agitation mode.

[0034] In the fixed-point agitation mode, the control system is configured to control the stacker crane 1 to start the drive mechanism after moving to the target area, to agitate the target area at a fixed point, and to disturb the air along the movement path by moving the air duct 2.

[0035] Specifically, in this mode, the control logic of the control system is as follows: First, based on temperature information, the most efficient path is planned, and the stacker crane 1, carrying the air duct 2, is controlled to move to the front of the target area (i.e., the abnormal point or the target point that the stacker crane needs to reach) or the optimal operating position, and then completely stops. Subsequently, the control system starts the drive mechanism (such as a fan) to operate at a specific power. At this time, the stationary air duct 2 becomes a temporary, directional air circulation device: the fan drives the hotter air from the target area and surrounding areas to be drawn in from the return air inlet 22 at the bottom of the air duct 2, and after passing through the air duct 2, it is ejected from the air outlet 21 at the top. This directional airflow can powerfully penetrate the gaps between goods, break the static air layer in the area, and promote the intense mixing and exchange of hot and cold air, thereby achieving rapid and targeted removal of the hot spot.

[0036] In motion agitation mode, the control system is configured to control the stacker crane 1 to move to the target area and control the drive mechanism to remain closed, using the movement of the air duct 2 to agitate the air along the movement path.

[0037] In this mode, the control system's strategy is to control the stacker crane 1 to move along a preset or dynamically planned path, which is designed to cover the target area requiring agitation (such as the entire aisle or a specific rack column 3). Throughout the movement, the drive mechanism remains closed. At this time, airflow agitation relies entirely on the physical movement of the duct 2 itself: as the stacker crane 1 moves horizontally and vertically up and down in the aisle with the duct 2, the duct 2 acts like a giant agitator, its movement shearing, dragging, and inducing effects on the surrounding air, thus causing the previously relatively still air to circulate and mix at a low speed. This mode does not consume fan power; it only utilizes the redundant function of the stacker crane 1's movement to achieve a large-scale, gentle, and continuous airflow renewal, resulting in extremely high energy efficiency.

[0038] In the collaborative agitation mode, the control system is configured to control the stacker crane 1 to move to the target area, control the drive mechanism to remain open, agitate the air in the moving path, and use the movement of the air duct 2 to disturb the air in the moving path.

[0039] In this mode, the control system executes compound commands: simultaneously activating the drive mechanism while controlling the stacker crane 1 to move towards the target area or run along a specific path. This causes the forced airflow generated by the drive mechanism and the induced airflow generated by the movement of the duct 2 to superimpose and reinforce each other. On the one hand, the active airflow generated by the fan has a longer range and stronger penetration; on the other hand, the movement of the duct 2 continuously changes the relative direction and area of ​​action of the forced airflow, expanding the effective agitation range. This combination of the moving base airflow and the forced airflow from the fan greatly accelerates the heat and mass exchange process throughout the space.

[0040] In some embodiments, the driving mechanism is a fan disposed inside the air duct 2, and the fan is an axial flow fan or a centrifugal fan.

[0041] In this embodiment, the fan is fixedly installed inside a dedicated bracket or compartment within the air duct 2. For example, it is positioned in the middle or lower part of the height direction of the air duct 2 to more effectively draw air from each return air inlet 22 and provide sufficient acceleration space for the airflow to be delivered to the upper air outlet 21. The air inlet side of the fan faces the inner cavity of the air duct 2, smoothly connecting with the airflow path drawn in by the return air inlet 22; the air outlet side faces the top air outlet 21 of the air duct 2, directly or through a tapered / guided section to guide the airflow. This built-in design protects the fan from the wall of the air duct 2, reducing direct contact with the complex environment inside the warehouse (such as low temperature, high humidity, and possible condensation), thus improving reliability and service life. At the same time, it avoids the need for an additional independent fan unit to be suspended outside the stacker crane 1, ensuring the mobility and safety of the equipment when operating in narrow aisles, and preventing interference with the racks 3 or goods.

[0042] Depending on specific performance requirements and space constraints, either axial flow fans or centrifugal fans can be selected.

[0043] Axial flow fans are characterized by airflow entering and exiting along the fan's axis, resulting in large air volume, moderate pressure, compact structure, and high efficiency. In this application, an axial flow fan is suitable for scenarios requiring a large air circulation volume but not extremely high static pressure requirements. It effectively establishes a strong vertical air jet within the duct 2, promoting large-scale vertical air circulation and significantly breaking down vertical temperature stratification.

[0044] Centrifugal fans are characterized by airflow entering axially and exiting radially perpendicular to the axis under centrifugal force, providing high static pressure. In this application, centrifugal fans are particularly suitable for situations requiring stronger airflow penetration or longer range. For example, when it is necessary to deliver airflow more effectively to the depths of shelf 3 or overcome significant resistance caused by densely packed goods, the high-pressure characteristics of centrifugal fans ensure that the airflow retains sufficient kinetic energy after exiting, achieving deeper agitation.

[0045] In some more advanced embodiments, the operating speed of the fan can be continuously or steppedly adjusted via a frequency converter or speed control circuit. This allows the system to dynamically adjust the fan's output air volume, air pressure, and even airflow velocity according to the severity of the temperature anomaly in the target area and the required agitation mode, thereby ensuring effectiveness while further optimizing energy consumption.

[0046] In some embodiments, the temperature detection mechanism includes temperature sensors deployed at multiple preset points within the cold storage, and the temperature information includes temperature data detected by each temperature sensor.

[0047] Specifically, the multiple temperature sensors are not randomly installed, but rather strategically placed at several pre-defined points within the cold storage facility, based on its thermodynamic characteristics and storage structure. These pre-defined points typically include: evenly distributed at different heights of shelf 3 (e.g., upper, middle, and lower levels), different aisles (near air vents, in the middle, and in remote dead corners), and in the corners of the warehouse, to obtain sample data reflecting the temperature gradient and distribution throughout the entire three-dimensional storage space. Temperature fluctuations are prone to occur near the warehouse door, at aisle entrances where goods frequently enter and exit, and within the direct range and at the far end of the refrigeration air vents due to operational or uneven airflow distribution. Additionally, sensors can be added near specific storage locations containing temperature-sensitive items to achieve micro-environmental monitoring at the storage location level.

[0048] The detected temperature information is not a single numerical value, but a spatiotemporally tagged dataset continuously or periodically detected and reported by various temperature sensors. Each data point typically includes its sensor identifier (ID, corresponding to its physical location), a detection timestamp, and a real-time temperature value. This data is transmitted to the control system via wired (e.g., industrial bus) or wireless (e.g., LoRa, Zigbee) sensor networks. The control system integrates, processes, and analyzes the received raw temperature data.

[0049] It should be noted that in actual operation, the automated three-dimensional cold storage temperature field adjustment equipment can be used in conjunction with the palletizer itself, rather than controlling the movement of the palletizer solely through temperature data.

[0050] This invention also provides a control method for an automated three-dimensional cold storage temperature field regulation device, such as... Figure 4 and Figure 5 As shown, it includes the following steps: Step S410: Receive the task trigger instruction.

[0051] Step S420: In response to the task triggering command, determine the target area of ​​the temperature agitation task to be performed.

[0052] Step S430: Control the stacker crane to move to the target area.

[0053] Step S440: Control the start and stop of the drive mechanism to drive the airflow through the duct and agitate the airflow in the target area.

[0054] In this embodiment, the task triggering command is not from a single source, but is automatically generated by the control system based on a preset strategy or real-time status. Specifically, the triggering command is mainly generated in at least one of the following situations: based on temperature information detected by a temperature detection mechanism, based on a preset time period, or based on the task scheduling status of the stacker crane.

[0055] Timed task triggering: The control system automatically generates a preventative temperature field inspection and balancing task instruction according to a preset cycle (such as every 2 hours).

[0056] Temperature and humidity alarm trigger: When the temperature sensor network deployed in the cold storage detects that the temperature value at a certain point or in a certain area continuously exceeds the set safety threshold, an emergency temperature equalization task alarm command is automatically generated.

[0057] Task gap trigger: The control system detects that after the stacker crane completes the previous cargo storage and retrieval task, it enters a short standby or idle state. At this time, it automatically determines whether to generate a temperature equalization task instruction to be executed using this idle window.

[0058] Upon receiving a trigger command, the control system makes intelligent decisions. First, it determines the target area: if triggered by an alarm, the target area is directly determined by the location of the alarm sensor; if triggered by a timed or intermittent period, it needs to comprehensively analyze recent historical temperature data and real-time data to identify areas with relatively high current temperatures or potential stratification trends (such as deep within specific aisles or bottom-level storage locations) as the target area. Second, based on the scope of the target area, the severity of temperature unevenness, and the current task queue status of the stacker crane, it selects the optimal mode from several pre-stored operating modes.

[0059] After determining the target area and pattern, the control system performs path planning. During planning, it prioritizes integration with existing cargo handling routes of the stacker crane. For example, if the target area happens to be near the path of a previous handling task, the churning task can be embedded into that movement process, achieving path reuse and maximizing equipment utilization efficiency. After planning is complete, the control system sends motion commands to the stacker crane, controlling it to locate the corresponding spatial position in the target area through walking and lifting movements.

[0060] Finally, the control system controls the start and stop timing of the drive mechanism and coordinates it with the movement of the stacker crane. The agitation task continues until the preset agitation time is reached, or relevant sensors indicate that the temperature of the target area has returned to the normal range. Subsequently, the control system shuts down the drive mechanism, the stacker crane returns to standby mode, this temperature equalization task is completed, and the system awaits the next trigger command.

[0061] It should be noted that the steps for performing airflow agitation include one of the following: fixed-point agitation mode, motion agitation mode, and cooperative agitation mode.

[0062] In the fixed-point agitation mode, after the stacker crane moves to the target area, the drive mechanism is activated to agitate the target area at a fixed point, and the movement of the air duct is used to disturb the air along the movement path.

[0063] Specifically, in this mode, the control logic of the control system is as follows: First, based on temperature information, the most efficient path is planned, and the stacker crane carrying the air duct is moved to the target area (i.e., the abnormal point or the target point that the stacker crane needs to reach) directly in front of or at the optimal operating position, and then completely stopped. Subsequently, the control system activates the drive mechanism (such as a fan) to operate at a specific power level. At this time, the stationary air duct becomes a temporary, directional air circulation device: the fan-driven hot air from the target area and surrounding areas is drawn in through the return air inlet at the bottom of the air duct, passes through the air duct, and is ejected from the top outlet. This directional airflow can powerfully penetrate the gaps between goods, breaking the static air layer in the area, promoting intense mixing and exchange of hot and cold air, thereby achieving rapid, targeted removal of the hot spot.

[0064] In motion agitation mode, the stacker crane is controlled to move to the target area, and the drive mechanism is kept closed. The movement of the air duct is used to agitate the air along the movement path.

[0065] In this mode, the control system's strategy is to control the stacker crane to move along a preset or dynamically planned path, designed to cover the target area requiring agitation (such as an entire aisle or a specific rack column). Throughout the movement, the drive mechanism remains closed. At this point, airflow agitation relies entirely on the physical movement of the duct itself: as the stacker crane moves horizontally and vertically through the aisle with the duct, the duct acts like a giant agitator, its movement shearing, dragging, and inducing effects on the surrounding air, causing the previously relatively still air to circulate and mix at a low speed. This mode consumes no fan power; it utilizes only the redundant functionality of the stacker crane's movement to achieve a large-scale, gentle, and continuous airflow renewal, resulting in extremely high energy efficiency.

[0066] In the collaborative agitation mode, the stacker crane is controlled to move to the target area, the drive mechanism is kept open, the air in the moving path is agitated, and the movement of the air duct is used to disturb the air in the moving path.

[0067] In this mode, the control system executes compound commands: simultaneously activating the drive mechanism while controlling the stacker crane to move towards the target area or run along a specific path. This causes the forced airflow generated by the drive mechanism and the induced airflow generated by the movement of the ductwork to superimpose and reinforce each other. On the one hand, the active airflow generated by the fan has a longer range and stronger penetration; on the other hand, the movement of the ductwork continuously changes the relative direction and area of ​​action of the forced airflow, expanding the effective agitation range. This combination of the moving base airflow and the forced airflow from the fan greatly accelerates the heat and mass exchange process throughout the space.

[0068] In some embodiments, the step of determining the target area for performing the temperature agitation task based on temperature information detected by a temperature detection mechanism includes: Step S4201: Compare the temperature data detected by each temperature sensor with the preset temperature threshold.

[0069] Step S4202: The area where the sensor's temperature data continuously exceeds the preset temperature threshold is determined as the target area with abnormal temperature.

[0070] In this embodiment, the preset temperature threshold is typically set in advance based on the specific temperature control requirements of the stored goods. It is not a single warehouse setting temperature, but rather an upper limit of an allowable positive deviation range. For example, if a certain medicine requires a storage temperature of 2-8℃, the preset threshold might be set to 8.5℃ or 9℃, providing a buffer boundary for the control system to intervene in advance. The control system polls and collects the readings of each temperature sensor in the network in real time or periodically, and digitally compares the instantaneous value or short-term average value with the corresponding preset threshold. This comparison operation is performed in parallel and continuously, generating a real-time temperature status mapping table for the entire warehouse, where each temperature sensor corresponds to a normal or out-of-limit status flag.

[0071] The control system does not immediately trigger an alarm when a sensor reading exceeds a threshold once. Instead, it introduces a duration-based judgment window (e.g., exceeding the limit for three consecutive sampling cycles, or the cumulative duration of the exceeding state exceeding five minutes). Only when the data from one or a group of adjacent sensors "continuously" meets the exceeding condition is the geographical location officially determined as a temperature anomaly target area. This judgment logic effectively filters out interference signals caused by factors such as brief opening of the warehouse door or instantaneous sensor errors. Furthermore, the judgment process does not stop at single-point location. The control system also combines multiple temperature sensors to perform cluster analysis on multiple adjacent temperature sensor data that simultaneously exceed the limit. For example, if multiple temperature sensors at the top, middle, and bottom of the same shelf row all show abnormalities, the system may determine the entire shelf row area as the target area, rather than just a few discrete points.

[0072] In some embodiments, such as Figure 4 and Figure 5 As shown, after the step of agitating the airflow in the target area, the following steps are also included: Step S450: Determine whether the stop condition has been met based on the real-time temperature change of the target area reported by the temperature detection mechanism, or based on the preset stirring duration.

[0073] Step S460: If the stopping condition is met, control the drive mechanism to stop running.

[0074] Specifically, the control system continuously monitors feedback data from temperature sensors in and around the target area. For example, when the system detects that the temperature in the target area has dropped below a safe threshold and is stabilizing, or when the difference between the temperature in that area and the average temperature in the warehouse has narrowed to a preset reasonable range, it determines that the temperature equilibrium target has been achieved and the stopping condition is met.

[0075] To account for extreme conditions or for system reliability, the control system also presets a maximum agitation duration (e.g., continuous agitation for 10 minutes). This time threshold is set based on the size of the target area, the initial temperature difference, and the selected agitation mode. Once the agitation time reaches this preset duration, the system determines that the stop condition has been met, regardless of whether the temperature has fully met the target, to prevent excessive energy and equipment consumption at individual, difficult-to-correct locations.

[0076] If the stopping conditions are subsequently met, the control system immediately generates and sends a stop command. Specifically, the control system first stops the drive mechanism, cutting off the source of the active airflow. Then, based on the overall task scheduling, the control system controls the stacker crane to exit the agitation state. The stacker crane is either left in its current position to wait, or a path is immediately planned for it to return to the designated waiting position.

[0077] In some embodiments, the step of controlling the stacker crane to move to the target area includes: when the stacker crane needs to simultaneously perform a goods storage and retrieval task from the warehouse management system and a temperature agitation task determined based on temperature information, sorting and / or optimizing the paths of the two tasks to control the execution order and movement path of the stacker crane.

[0078] Specifically, the control system receives cargo storage and retrieval instructions in real time, and also generates temperature agitation instructions based on temperature monitoring results. All tasks enter a unified task pool or queue, and each task has attribute tags, such as task type (storage / retrieval), target location, priority, urgency, and estimated time.

[0079] The control system's built-in scheduling algorithm dynamically sorts and makes decisions on tasks in the task pool based on a series of optimization objectives (such as the shortest total operation time, the lowest energy consumption, and the fastest recovery of temperature uniformity) and constraints (such as the timeliness requirements for goods leaving the warehouse and temperature safety thresholds).

[0080] Its decision-making logic mainly includes: task prioritization and path optimization.

[0081] Task sequencing determines whether the stacker crane should execute the storage / retrieval task first and then the churning task, or execute the emergency churning task first and then the storage / retrieval task, or insert the churning task into the interval between storage / retrieval tasks. The sequencing is based on factors such as the urgency priority of the tasks and timeliness requirements.

[0082] Path optimization means that instead of planning two separate paths for agitation and storage / retrieval tasks, the system attempts to plan an optimal composite path that can connect or cover multiple task points. For example, it calculates an optimal route from the current position of the stacker crane to the target storage / retrieval location, which can pass through or approach areas with abnormal temperatures, thereby enabling multiple operations to be completed in a single trip.

[0083] Based on the above scheduling decisions, the control system generates a composite control command sequence integrating movement, lifting, stopping, and start / stop of the drive mechanism, and issues it to the stacker crane for execution. For example, the command might be: Start from point A, move horizontally at speed V1 to point B (near the temperature anomaly zone), start the fan and slow down to pass through, agitating area B; turn off the fan, continue accelerating to point C to perform the pallet removal operation; finally return to the standby point at the end of the aisle. Throughout the process, the stacker crane's movement is continuous, and the temperature agitation is embedded as an action step in its process.

[0084] The control system provided by the present invention is described below. The control system described below can be referred to in correspondence with the control method described above.

[0085] The control system includes an acquisition module, a determination module, and a control module. The acquisition module receives a task trigger command. The determination module, in response to the task trigger command, determines the target area for the temperature agitation task to be performed. The control module controls the stacker crane to move to the target area and controls the start and stop of the drive mechanism to drive airflow through the air duct, thereby agitating the airflow in the target area.

[0086] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include a processor 610, a communications interface 620, a memory 630, and a communication bus 640, wherein the processor 610, communications interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a control method, which includes: receiving a task trigger instruction; in response to the task trigger instruction, determining the target area for the temperature agitation task to be performed; controlling the stacker crane to move to the target area; and controlling the start and stop of a drive mechanism to drive airflow through the air duct to agitate the airflow in the target area.

[0087] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0088] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the control methods provided by the above methods. The method includes: receiving a task triggering instruction; in response to the task triggering instruction, determining a target area for a temperature agitation task to be performed; controlling a stacker crane to move to the target area; and controlling the start and stop of a drive mechanism to drive airflow through the air duct to agitate the airflow in the target area.

[0089] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method provided by the above methods, the method comprising: receiving a task triggering instruction; in response to the task triggering instruction, determining a target area for a temperature agitation task to be performed; controlling a stacker crane to move to the target area; and controlling a drive mechanism to start and stop to drive airflow through the air duct to agitate the airflow in the target area.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0091] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated three-dimensional cold storage temperature field control device, characterized in that, The automated three-dimensional cold storage temperature field control equipment, applied to stacker cranes with lifting and horizontal movement functions, includes: An air duct is installed on the stacker crane and extends along the height direction of the stacker crane. Multiple return air ports are formed on the air duct at intervals along the height direction of the stacker crane, and an air outlet is provided at the top of the air duct. A drive mechanism, connected to the air duct, is used to drive air to enter through the return air inlet and exit through the air outlet. Temperature detection equipment is installed in the cold storage to detect the temperature information of the cold storage. The control system, electrically connected to the stacker crane, the drive mechanism, and the temperature detection mechanism, is configured to determine, based on the temperature information, a target area with an abnormal temperature within the cold storage, control the stacker crane to move to the target area, and control the drive mechanism to start and stop, so as to agitate the airflow in the target area.

2. The automated three-dimensional cold storage temperature field control equipment according to claim 1, characterized in that, The control system is configured to control the stacker crane and the drive mechanism to perform one of a fixed-point agitation mode, a motion agitation mode, and a cooperative agitation mode; In the fixed-point agitation mode, the control system is configured to control the stacker crane to start the drive mechanism after it moves to the target area, to perform fixed-point agitation on the target area, and to disturb the air along the movement path by moving the air duct. In the motion agitation mode, the control system is configured to control the stacker crane to move to the target area and control the drive mechanism to remain closed, and to agitate the air along the movement path by moving the air duct. In the cooperative agitation mode, the control system is configured to control the stacker crane to move to the target area, control the drive mechanism to remain open, agitate the air in the movement path, and disturb the air in the movement path by moving the air duct.

3. The automated three-dimensional cold storage temperature field control equipment according to claim 1, characterized in that, The driving mechanism is a fan installed inside the air duct, and the fan is an axial flow fan or a centrifugal fan.

4. The automated three-dimensional cold storage temperature field control equipment according to any one of claims 1-3, characterized in that, The temperature detection mechanism includes temperature sensors deployed at multiple preset points within the cold storage, and the temperature information includes temperature data detected by each of the temperature sensors.

5. A control method for an automated three-dimensional cold storage temperature field regulation device as described in any one of claims 1-4, characterized in that, Includes the following steps: Receive task trigger command; In response to the task triggering command, the target area for the temperature agitation task to be performed is determined; Control the stacker crane to move to the target area; The control drive mechanism starts and stops to drive airflow through the air duct and agitate the airflow in the target area.

6. The control method for the automated three-dimensional cold storage temperature field regulation equipment according to claim 5, characterized in that, The steps for performing airflow agitation include one of the following: stationary agitation mode, motion agitation mode, and cooperative agitation mode; In the fixed-point agitation mode, after the stacker crane moves to the target area, the drive mechanism is activated to agitate the target area at a fixed point, and the movement of the air duct is used to disturb the air along the movement path. In the motion agitation mode, the stacker crane is controlled to move to the target area, and the drive mechanism is controlled to remain closed, using the movement of the air duct to agitate the air along the movement path; In the cooperative agitation mode, the stacker crane is controlled to move to the target area, the drive mechanism is kept open to agitate the air in the movement path, and the movement of the air duct is used to disturb the air in the movement path.

7. The control method for the automated three-dimensional cold storage temperature field regulation equipment according to claim 5, characterized in that, The task triggering instruction is generated in at least one of the following ways: based on the temperature information detected by the temperature detection mechanism, based on a preset time period, or based on the task scheduling status of the stacker crane.

8. The control method for the automated three-dimensional cold storage temperature field regulation equipment according to claim 7, characterized in that, In the case of determining the target area for performing the temperature agitation task based on the temperature information detected by the temperature detection mechanism, the steps include: Compare the temperature data detected by each temperature sensor with the preset temperature threshold. The area where the sensor's temperature data continuously exceeds the preset temperature threshold is determined to be the target area with abnormal temperature.

9. The control method for the automated three-dimensional cold storage temperature field regulation equipment according to claim 5, characterized in that, After the step of agitating the airflow in the target area, the method further includes: Based on the real-time temperature change of the target area reported by the temperature detection agency, or based on the preset agitation duration, determine whether the stop condition has been met. If the stopping condition is met, the control drive mechanism will stop operating.

10. The control method for the automated three-dimensional cold storage temperature field regulation equipment according to claim 5, characterized in that, The step of controlling the stacker crane to move to the target area includes: When a stacker crane needs to simultaneously perform a goods storage and retrieval task from the warehouse management system and a temperature agitation task determined based on the temperature information, the two tasks are sorted and / or the paths are optimized to control the execution order and movement path of the stacker crane.

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