An automated inventory control method, system and racking for instant retailing

Abstract

This invention discloses an automated inventory control method, system, and automated storage and retrieval system (AS / RS) for instant retail, relating to the field of warehouse automation control technology. The method includes: S1, acquiring the layout parameters of the AS / RS, constructing a topology map of the walking network based on the layout parameters, the topology map containing nodes and edges, nodes corresponding to work points, installing sensors on the stacker crane, and collecting motion state data of the stacker crane during task execution through the sensors; S2, associating and storing the motion state data with the path information of the stacker crane during task execution to form a motion state record; extracting the motion state data feature values ​​of each node interval from the historical motion state record, assigning weight adjustment values ​​to the corresponding edges based on the feature values, superimposing the weight adjustment values ​​onto the original weights to obtain updated weights, and recalculating the path based on the updated weights, so that the path planning result can reflect the actual traffic quality of the path segment.

Description

Technical Field

[0001] This invention relates to the field of warehouse automation control technology, specifically to an automated inventory control method, system, and automated warehouse for instant retail. Background Technology

[0002] The picking efficiency of automated warehouses directly affects order fulfillment speed, and the path planning of stacker cranes is a key aspect. In existing technologies, stacker crane path planning mainly adopts the shortest path calculation method based on static coordinates, that is, given the rack layout and storage location, the stacker crane's travel route is determined with the goal of minimizing the physical distance.

[0003] However, the instant retail business is characterized by high order density, uneven distribution of order arrival times, and strict requirements for picking time limits. In this scenario, stacker cranes need to perform picking tasks frequently, and the same path segment may be traversed multiple times at different times. In actual operation, the operating state of the stacker crane varies when passing through different path segments. For example, some track segments may be worn or deformed due to long-term use, causing abnormal vibrations when the stacker crane passes through them. Some curved sections have a large design curvature, requiring the stacker crane to repeatedly adjust the angle when passing through them. In some areas, due to equipment aging, the acceleration and deceleration process is not smooth. These differences in operating state will cause the actual passage efficiency to deviate from the calculation results based on physical distance. The path calculated according to the shortest physical distance may not have the optimal passage efficiency in actual execution. Summary of the Invention

[0004] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides an automated inventory control method, system, and automated warehouse for instant retail.

[0005] (II) Technical Solution To achieve the above objectives, the present invention provides an automated inventory control method for instant retail, comprising the following steps: S1. Obtain the layout parameters of the automated warehouse, construct a topology map of the walking network based on the layout parameters, the topology map includes nodes and edges, the nodes correspond to the work points, install sensors on the stacker crane, and collect motion state data of the stacker crane during the execution of the task through the sensors. S2. The motion state data is associated with the path information of the stacker crane when performing the task and stored to form a motion state record; S3. When a new set of instant retail orders is received, obtain the target storage location corresponding to each order in the order set, determine the start and end points in the topology map based on the target storage location, and generate an initial path. S4. Search the motion state record library for historical motion state records that have the same node sequence as the initial path; S5. Adjust the initial path based on the motion state data in the found historical motion state records, generate the adjusted path, and send the adjusted path to the stacker crane for execution.

[0006] Preferably, in step S1, the layout parameters of the automated warehouse are obtained. The layout parameters include the rack arrangement, the number and direction of aisles, the coordinate position of the storage compartments in three-dimensional space, the laying path of the stacker crane's running track, and the location of the stacker crane's stopping point. The work points are determined based on the layout parameters. The work points include the location of the access point of each storage compartment, the location of the stacker crane docking point, and the location of the aisle turning point. The coordinate data of each work point in three-dimensional space is extracted as the node raw data. Each work point is assigned a unique node identifier, and the node identifier is associated with the coordinate data of the work point and stored to form a node information table; Based on the aisle orientation and track laying path in the layout parameters, the walkable path between adjacent work points is determined. The walkable path between adjacent work points refers to the path segment along the track from the first work point to the second work point without passing through other work points. For each walkable path, extract the node identifiers corresponding to the work points at both ends of the path, establish an edge, associate the starting end of the edge with the starting node identifier, and associate the ending end of the edge with the ending node identifier. Measure the physical distance of each walkable path, use the physical distance value as the initial weight of the edge, and store the initial weight associated with the edge. All node information tables and all edge information are combined to form a walking network topology graph. The walking network topology graph contains a set of nodes and a set of edges. The set of nodes contains the node identifiers and node coordinate data corresponding to all work points. The set of edges contains the connection relationships between all adjacent nodes and the initial weight of each edge. Sensors are installed on the stacker crane. The sensors include at least one of vibration sensors, acceleration sensors and angle sensors. The vibration sensors are installed on the surface of the stacker crane's loading platform or column. The acceleration sensors are installed near the drive components of the traveling mechanism or lifting mechanism. The angle sensors are installed on the stacker crane's steering shaft or fork rotation mechanism. All sensors establish a data communication link with the stacker crane's controller. The motion status data of the stacker crane during the picking process is collected by sensors. The motion status data includes at least one of vibration value, acceleration value and angle change value. The vibration value is continuously output and recorded by the vibration sensor, the acceleration value is continuously recorded by the acceleration sensor, and the angle change value is monitored and recorded by the angle sensor. All motion status data are recorded in time series form, and each data point is accompanied by a timestamp of the collection time.

[0007] Preferably, in step S2, the motion state data is aligned with the node order according to the collection time order to generate a data node correspondence relationship. The data node correspondence relationship includes the motion state data segment collected in each node interval. A timestamp is added to the data node correspondence relationship. The timestamp records the start and end time of the task execution. The path identifier, data node correspondence relationship and timestamp are combined to form a motion state record. The motion state record is stored in the motion state record library.

[0008] Preferably, in step S3, a pre-established inventory mapping table is obtained. The inventory mapping table stores the correspondence between item identifiers and storage location numbers. The inventory mapping table is matched and searched according to the required item identifiers of each order. The storage location number corresponding to each required item identifier is extracted from the inventory mapping table, and the extracted storage location number is determined as the target storage location corresponding to the order. The coordinate data of the current position of the stacker crane is obtained by the positioning sensor built into the stacker crane. The coordinate data of the current position of the stacker crane is compared with the coordinates of the nodes in the walking network topology diagram. The node that matches the coordinate data of the current position of the stacker crane is found and the node is determined as the starting node. Convert the storage location number corresponding to each target storage location into node coordinates in the walking network topology diagram. Based on the node coordinates, find the node corresponding to each target storage location in the walking network topology diagram. Gather all the target storage location nodes found to form the destination node set. The connection relationship data between each node in the set of starting and ending nodes is extracted from the walking network topology graph. The initial weight data of each edge in the walking network topology graph is extracted. Based on the connection relationship data and the initial weight data, a path search method is used to generate a path sequence starting from the starting node and passing through all nodes in the set of ending nodes in sequence. During the path sequence generation process, the original weight accumulation value of each candidate path from the current node to the next unvisited node is calculated in sequence. The candidate path with the smallest original weight accumulation value is selected as the path segment from the current node to the next unvisited node. The path segments are connected in the access order to form a complete path. The complete path is output in the form of a node order list. Each node in the node order list corresponds to the work point that the stacker crane needs to reach in sequence.

[0009] Preferably, in step S4, a node order list is extracted from the initial path. The node order list contains the arrangement order of node identifiers that proceed sequentially from the starting node through each target storage node until all nodes have been visited. Establish a data connection with the motion status record library, which stores multiple motion status records. Each motion status record includes a path identifier, data node correspondence, and timestamp. The path identifier is generated according to the order of nodes traversed by the stacker crane during the execution of its task. The node sequence list is compared item by item with the path identifiers of each motion state record in the motion state record database. The item-by-item comparison is performed by comparing whether the node identifiers are the same in the node order. The specific steps include: Compare the first node identifier in the node order list with the first node identifier in the path identifier to determine whether the two node identifiers are the same; If the first node identifier comparison result is the same, then continue to compare the second node identifier in the node order list with the second node identifier in the path identifier; Similarly, the node identifiers are compared sequentially according to their positions in their respective sequences, and each comparison determines whether the node identifiers at the current position are the same. When the comparison result between the node sequence list and the node identifier at a certain position of the path identifier is different, the comparison operation of the motion state record is stopped, and it is determined that the motion state record does not have the same node sequence as the initial path. When all node identifiers in the node order list are the same as the node identifiers at the corresponding positions in the path identifier, further determine whether the number of nodes in the node order list is consistent with the number of nodes in the path identifier. If the number of nodes is the same and the node identifiers at all corresponding positions are the same, then the motion state record is determined to have the same node sequence as the initial path. Retrieve the next motion state record from the motion state record database and repeat the above comparison operation until all motion state records in the motion state record database have been traversed. All motion state records that are determined to have the same node sequence are filtered out to form a matching record set. The data node correspondence and timestamp of each motion state record are extracted from the matching record set. The data node correspondence includes the motion state data segments collected in each adjustment interval.

[0010] Preferably, in step S5, motion state data segments corresponding to each node interval are extracted from historical motion state records, and feature extraction is performed on the motion state data segments of each node interval. Feature extraction includes calculating the average value of all vibration values, the maximum value of all acceleration values, and the cumulative value of all angle change values ​​within the node interval, and using the average value of vibration values, the maximum value of acceleration values, and the cumulative value of angle change values ​​as the motion state data feature values ​​of the node interval. Input the motion state data feature values ​​into the preset conversion rules, and the conversion rules output the corresponding weight adjustment values ​​according to the magnitude of the motion state data feature values; The weight adjustment value corresponding to each edge is added to the original weight of the edge to obtain the updated weight of the edge; Based on the updated weights of all edges in the topology graph, a path search is performed with the starting node as the starting point and all nodes in the set of ending nodes as the target. The path search includes calculating the cumulative updated weights of each candidate path from the current node to the next unvisited node in turn, selecting the candidate path with the smallest cumulative updated weight as the path segment from the current node to the next unvisited node, connecting each path segment in the order of visit to form a complete path, and outputting the adjusted path in the form of a node order list. The adjusted path is converted into a sequence of instructions that the stacker crane can execute. The instruction sequence includes the travel distance, travel speed and turning angle of each node interval. The instruction sequence is then sent to the stacker crane's controller via a data communication link. During the process of the stacker crane executing the adjusted path, real-time motion status data is continuously collected by sensors. The real-time motion status data includes the vibration value, acceleration value and angle change value of the stacker crane when it passes through each node interval. Obtain the actual node order traversed by the stacker crane during the execution of the adjusted path, and use the actual node order traversed as the path identifier; Align the real-time motion status data with the actual node sequence according to the collection time order to generate a data node correspondence. Attach a task execution timestamp to the data node correspondence. Combine the path identifier, data node correspondence, and timestamp to form a new motion status record. Store the new motion status record in the motion status record library. Extract motion state data segments from each node interval from the new motion state record, and calculate the motion state data feature values ​​for each node interval. The motion state data feature values ​​are compared with preset settings, which include vibration value threshold, acceleration value threshold, and angle change value threshold. When the average vibration value of a node interval exceeds the vibration value threshold, or the maximum acceleration value exceeds the acceleration value threshold, or the cumulative angle change value exceeds the angle change value threshold, a mark is added to the edge corresponding to the node interval. The mark is stored in the mark field associated with the edge in the topology graph. When a path passing through the marked edge is generated again, all historical motion state records corresponding to the edge are retrieved from the motion state record library. The motion state data feature values ​​of the node interval in each historical motion state record are extracted. All motion state data feature values ​​are arranged in the order of timestamps to form a feature value change trend sequence. When the motion state data feature values ​​of multiple consecutive timestamps in the feature value change trend sequence show an increasing trend, an additional weight adjustment value is assigned to the edge, and the additional weight adjustment value is superimposed on the original weight and weight adjustment value of the edge.

[0011] This invention also provides an automated inventory control system for instant retail, comprising: Data acquisition module: acquires the layout parameters of the automated warehouse, constructs a topology map of the walking network based on the layout parameters, the topology map includes nodes and edges, nodes correspond to work points, and sensors are installed on the stacker crane to collect motion state data of the stacker crane during the execution of tasks. Recording and storage module: Associates and stores the motion state data with the path information of the stacker crane when performing tasks, forming a motion state record; Order processing module: When a new set of instant retail orders is received, the target storage location corresponding to each order in the order set is obtained, and the starting point and ending point are determined in the topology map based on the target storage location to generate an initial path; Record retrieval module: Searches the motion state record library for historical motion state records that have the same node sequence as the initial path; Path adjustment module: Adjusts the initial path based on the motion status data in the found historical motion status records, generates the adjusted path, and sends the adjusted path to the stacker crane for execution.

[0012] This invention also provides an automated warehouse, including a walking mechanism, a lifting mechanism, and a controller, and further includes an automated inventory control system for instant retail, wherein the controller is configured to execute an automated inventory control method for instant retail. The traveling mechanism drives the stacker crane to move horizontally along the guide rails laid on the ground or track, enabling the stacker crane to run along the aisles of the automated warehouse and reach the shelf column where the operation is required. When the controller receives the adjusted path command, the traveling mechanism is responsible for executing the horizontal movement operation in the path and parking the stacker crane in the column where the target storage location is located. The lifting mechanism drives the loading platform on the stacker crane to move vertically up and down along the stacker crane column, so that the loading platform rises or falls to the designated rack layer position. After the traveling mechanism positions the stacker crane to the correct column, the lifting mechanism is responsible for accurately lifting or lowering the loading platform to the layer where the target storage location is located. The controller receives the adjusted path instructions and parses them into specific walking distances and elevations.

[0013] (III) Beneficial Effects This invention provides an automated inventory control method, system, and automated warehouse for instant retail, which has the following beneficial effects: This invention collects motion status data by setting sensors on the stacker crane and stores the motion status data and path information as motion status records, establishing a correlation between path and traffic quality. When a new order set is received, it can find historical motion status records with the same node sequence as the current path and adjust the initial path based on the historical operating status, effectively avoiding the decrease in traffic efficiency caused by changes in equipment status. By extracting motion state data feature values ​​from historical motion state records for each node interval, assigning weight adjustment values ​​to the corresponding edges based on the feature values, superimposing the weight adjustment values ​​onto the original weights to obtain updated weights, and recalculating the path based on the updated weights, the path planning results can reflect the actual traffic quality of the path segments, thus improving the adaptability of path selection to the actual operating environment. Attached Figure Description

[0014] Figure 1 This is a flowchart of the present invention; Figure 2 This is a system block diagram of the present invention; Figure 3 This is a structural diagram of the vertical storage system of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figure 1 This invention provides an automated inventory control method for instant retail, comprising the following steps: S1. Obtain the layout parameters of the automated warehouse, construct a topology map of the walking network based on the layout parameters, the topology map includes nodes and edges, the nodes correspond to the work points, install sensors on the stacker crane, and collect motion state data of the stacker crane during the execution of the task through the sensors. Furthermore, in S1, the layout parameters of the automated warehouse are obtained. The layout parameters include the rack arrangement, the number and direction of aisles, the coordinate position of the storage compartments in three-dimensional space, the laying path of the stacker crane's running track, and the location of the stacker crane's stopping point. The work points are determined based on the layout parameters. The work points include the location of the access point of each storage compartment, the location of the stacker crane docking point, and the location of the aisle turning point. The coordinate data of each work point in three-dimensional space is extracted as the node raw data. Each work point is assigned a unique node identifier, and the node identifier is associated with the coordinate data of the work point and stored to form a node information table; Based on the aisle orientation and track laying path in the layout parameters, the walkable path between adjacent work points is determined. The walkable path between adjacent work points refers to the path segment along the track from the first work point to the second work point without passing through other work points. For each walkable path, extract the node identifiers corresponding to the work points at both ends of the path, establish an edge, associate the starting end of the edge with the starting node identifier, and associate the ending end of the edge with the ending node identifier. Measure the physical distance of each walkable path, use the physical distance value as the initial weight of the edge, and store the initial weight associated with the edge. All node information tables and all edge information are combined to form a walking network topology graph. The walking network topology graph contains a set of nodes and a set of edges. The set of nodes contains the node identifiers and node coordinate data corresponding to all work points. The set of edges contains the connection relationships between all adjacent nodes and the initial weight of each edge. Sensors are installed on the stacker crane. The sensors include at least one of vibration sensors, acceleration sensors and angle sensors. The vibration sensors are installed on the surface of the stacker crane's loading platform or column. The acceleration sensors are installed near the drive components of the traveling mechanism or lifting mechanism. The angle sensors are installed on the stacker crane's steering shaft or fork rotation mechanism. All sensors establish a data communication link with the stacker crane's controller. The motion status data of the stacker crane during the picking process is collected by sensors. The motion status data includes at least one of vibration value, acceleration value and angle change value. The vibration value is continuously output and recorded by the vibration sensor, the acceleration value is continuously recorded by the acceleration sensor, and the angle change value is monitored and recorded by the angle sensor. All motion status data are recorded in time series form, and each data point is accompanied by a timestamp of the collection time.

[0017] It should be noted that the physical layout parameters of the automated warehouse are obtained. These parameters include at least the arrangement of the racks, the number and direction of the aisles, the coordinates of each storage compartment in three-dimensional space, and the laying path of the stacker crane's running track. The obtained parameters are stored as the basic dataset of the automated warehouse to ensure that all subsequent path calculations are based on real and unique physical coordinates. Based on layout parameters, a topology graph of the stacker crane's movement network is constructed. The topology graph is an abstract data structure composed of nodes and edges. Nodes correspond to work points in the automated warehouse, including the access points of each storage compartment, the initial stopping point of the stacker crane, and key locations such as aisle intersections or turns. Edges connect two adjacent nodes and represent feasible path segments for the stacker crane to move from one work point to another. Each edge is assigned an initial weight, which is pre-set based on the physical distance between nodes. The topology graph transforms the physical space into a mathematical model that can be recognized by the control system, providing a structured computational basis for path search and ensuring that every movement of the stacker crane can be quantified within the established network framework. Sensors are installed on the mechanical structure of the stacker crane to collect motion data during its task execution. The sensors include at least one or more of vibration sensors, acceleration sensors, and angle sensors. The vibration sensor is attached to the surface of the stacker crane's loading platform or column to sense the amplitude of mechanical vibration during equipment operation. The acceleration sensor is installed near the drive component of the traveling mechanism or lifting mechanism to capture acceleration changes during start-up, braking, and constant speed phases. The angle sensor is mounted on the stacker crane's steering shaft or fork rotation mechanism to record angular offset. All sensors establish a data communication link with the stacker crane's controller. The stacker crane's motion status data during the picking process is collected in real time by sensors. When the stacker crane moves along the path in the topology map according to the instructions, the vibration sensor continuously outputs vibration values, which reflect the instantaneous shaking intensity of the mechanical structure. The acceleration sensor continuously records acceleration values, which include acceleration and deceleration characteristics in the horizontal walking and vertical lifting directions. The angle sensor monitors angle change values, which reflect the attitude adjustment range of the stacker crane when turning or rotating the forks. These data are recorded in the form of time series, and each data point is accompanied by a timestamp of the collection time, forming a raw dataset closely bound to the path execution process. Vibration values ​​are used to quantify the degree of disturbance caused by uneven tracks or mechanical resonance when the stacker crane passes through a specific section of road. Acceleration values ​​reflect the output smoothness of the drive system. High acceleration values ​​may indicate emergency start-stop conditions, while low acceleration values ​​correspond to uniform and smooth motion. Angle change values ​​describe the changes of the stacker crane in spatial direction. Continuous small angle changes may indicate track curvature or wear of the traveling wheels. These parameters together constitute a multi-dimensional description of the stacker crane's operating quality. All collected raw data are directly associated with the corresponding edge markers to ensure that each path has a traceable motion status record.

[0018] S2. The motion state data is associated with the path information of the stacker crane when performing the task and stored to form a motion state record; Furthermore, in step S2, the motion state data is aligned with the node order according to the collection time order to generate a data node correspondence. The data node correspondence includes the motion state data segments collected within each node interval. A timestamp is added to the data node correspondence. The timestamp records the start and end times of task execution. The path identifier, data node correspondence, and timestamp are combined to form a motion state record. The motion state record is stored in the motion state record library.

[0019] It should be noted that the actual node sequence during the execution of the current picking task is extracted from the stacker crane's control system or task scheduling system. The node sequence refers to the sequence of work points that the stacker crane arrives at in the topology map according to predetermined instructions. For example, starting from the docking point, passing through the first aisle turning point, reaching the first storage compartment, then moving to the second storage compartment, and finally returning to the docking point. A unique path identifier is generated based on the node sequence. The path identifier is used to distinguish the paths executed in different tasks or different time periods, ensuring that historical data with the same node sequence can be accurately located during subsequent retrieval. While acquiring path identifiers, the system retrieves the time series of motion state data collected by sensors during task execution. The motion state data, indexed by timestamps, records the vibration, acceleration, and angle changes of the stacker crane at every moment from the start to the end of the task. By aligning the time axis, the motion state data is matched with the order of nodes passed by the stacker crane according to the acquisition time, generating a data node correspondence. The precise time point of the stacker crane arriving at each node is determined, and the time interval between two adjacent nodes before and after the precise time point is defined as a node interval. All motion state data segments collected within the node interval are bound to the edges corresponding to the node interval, so that the continuous time series data is divided into discrete data blocks corresponding to specific path segments. Each data block represents the operating state of the stacker crane when passing through a specific edge. Based on the generated data node correspondence, a timestamp is added to the data node correspondence. The timestamp records the start and end times of the task execution and is used to identify the specific time period in which the motion state record is generated. The path identifier, data node correspondence, and timestamp are combined and encapsulated to form a complete motion state record. The motion state record contains three elements: first, the path identifier, which is used to uniquely identify the sequence of nodes traversed by the stacker crane; second, the data node correspondence, which is used to describe the motion state details of the stacker crane on each edge; and third, the timestamp, which is used to trace the time when the record was generated. The generated motion state records are stored in the motion state record database, which is a database used to store historical motion state data. Each record is classified and stored according to timestamp order or path identifier. When it is necessary to find historical data with the same node sequence as the current path, the corresponding motion state record can be retrieved directly from the motion state record database. The storage structure of the record database uses path identifier as the main index and timestamp as the auxiliary index to ensure that the target record can be quickly located.

[0020] S3. When a new set of instant retail orders is received, obtain the target storage location corresponding to each order in the order set, determine the start and end points in the topology map based on the target storage location, and generate an initial path. Furthermore, in step S3, a pre-established inventory mapping table is obtained. The inventory mapping table stores the correspondence between item identifiers and storage location numbers. The inventory mapping table is matched and searched according to the required item identifiers of each order. The storage location number corresponding to each required item identifier is extracted from the inventory mapping table, and the extracted storage location number is determined as the target storage location corresponding to the order. The coordinate data of the current position of the stacker crane is obtained by the positioning sensor built into the stacker crane. The coordinate data of the current position of the stacker crane is compared with the coordinates of the nodes in the walking network topology diagram. The node that matches the coordinate data of the current position of the stacker crane is found and the node is determined as the starting node. Convert the storage location number corresponding to each target storage location into node coordinates in the walking network topology diagram. Based on the node coordinates, find the node corresponding to each target storage location in the walking network topology diagram. Gather all the target storage location nodes found to form the destination node set. The connection relationship data between each node in the set of starting and ending nodes is extracted from the walking network topology graph. The initial weight data of each edge in the walking network topology graph is extracted. Based on the connection relationship data and the initial weight data, a path search method is used to generate a path sequence starting from the starting node and passing through all nodes in the set of ending nodes in sequence. During the path sequence generation process, the original weight accumulation value of each candidate path from the current node to the next unvisited node is calculated in sequence. The candidate path with the smallest original weight accumulation value is selected as the path segment from the current node to the next unvisited node. The path segments are connected in the access order to form a complete path. The complete path is output in the form of a node order list. Each node in the node order list corresponds to the work point that the stacker crane needs to reach in sequence.

[0021] It should be noted that the system continuously receives a set of instant retail orders from the upstream business system. Each instant retail order contains the identification information of the required items and the corresponding quantity requirements. The system parses the order set one by one, extracts the identification of the required items in each order, and traverses the inventory mapping table based on the item identification. The inventory mapping table pre-stores the correspondence between all items and storage locations. By matching the item identification, the system queries the inventory mapping table to find the current storage location number of the required items for each order, and determines the storage location corresponding to the order. After obtaining the target storage locations for all orders, the starting point for the stacker crane to perform this picking task is determined. The starting point is the current location of the stacker crane. If the stacker crane is idle and docked at a designated docking point, the node corresponding to the docking point is used as the starting point. The determination of the starting point node is the starting reference for path planning, and all subsequent movement calculations are based on this starting point. In the topology graph, the starting point and ending point sets are determined. The determined starting point position is mapped to the walking network topology graph. The node corresponding to the starting point is found and used as the starting point node for path planning. The target storage location corresponding to each order is mapped to the topology graph one by one. The node corresponding to each target storage location is found. All target storage location nodes are combined to form the ending point set. The starting point node and the ending point set together constitute the target framework of path planning. The starting point node is a single node, and the ending point set contains at least one node. The specific number of nodes depends on the number of orders in the order set and the distribution of storage locations corresponding to each order. The initial path connecting the starting node and the end node set is generated based on the connection relationship between nodes in the topology graph and the pre-set initial weight of each edge. The initial path starts from the starting node, visits all nodes in the end node set in sequence, and finally returns to the specified position or stops at the last visited node. The initial path is generated by traversal search. Candidate paths from the current node to the next unvisited node are calculated in turn. The path segment with the smallest original weight accumulation value is selected as the local path. The local paths are connected in sequence to form a complete path sequence. The initial path is output in the form of a node order list. Each node in the list represents the work point that the stacker crane needs to pass through in sequence, and the edge between adjacent nodes corresponds to the actual path segment that the stacker crane needs to travel.

[0022] S4. Search the motion state record library for historical motion state records that have the same node sequence as the initial path; Furthermore, in S4, a node order list is extracted from the initial path. The node order list contains the arrangement order of the node identifiers that start from the starting node, pass through each target storage node in sequence until all nodes are visited. Establish a data connection with the motion status record library, which stores multiple motion status records. Each motion status record includes a path identifier, data node correspondence, and timestamp. The path identifier is generated according to the order of nodes traversed by the stacker crane during the execution of its task. The node sequence list is compared item by item with the path identifiers of each motion state record in the motion state record database. The item-by-item comparison is performed by comparing whether the node identifiers are the same in the node order. The specific steps include: Compare the first node identifier in the node order list with the first node identifier in the path identifier to determine whether the two node identifiers are the same; If the first node identifier comparison result is the same, then continue to compare the second node identifier in the node order list with the second node identifier in the path identifier; Similarly, the node identifiers are compared sequentially according to their positions in their respective sequences, and each comparison determines whether the node identifiers at the current position are the same. When the comparison result between the node sequence list and the node identifier at a certain position of the path identifier is different, the comparison operation of the motion state record is stopped, and it is determined that the motion state record does not have the same node sequence as the initial path. When all node identifiers in the node order list are the same as the node identifiers at the corresponding positions in the path identifier, further determine whether the number of nodes in the node order list is consistent with the number of nodes in the path identifier. If the number of nodes is the same and the node identifiers at all corresponding positions are the same, then the motion state record is determined to have the same node sequence as the initial path. Retrieve the next motion state record from the motion state record database and repeat the above comparison operation until all motion state records in the motion state record database have been traversed. All motion state records that are determined to have the same node sequence are filtered out to form a matching record set. The data node correspondence and timestamp of each motion state record are extracted from the matching record set. The data node correspondence includes the motion state data segments collected in each adjustment interval.

[0023] It should be noted that the extracted data includes the data node correspondence and timestamp stored in the record. The data node correspondence includes the motion state data segments collected within each node interval. The timestamp records the start and end times of the task execution. If the matching record set contains multiple records, the record closest to the current time is selected based on the timestamp to ensure that the historical motion state data used can reflect the actual state of the stacker crane in the current operating environment. The extracted historical motion state records are used as input data for subsequent path adjustment.

[0024] S5. Adjust the initial path based on the motion state data in the found historical motion state records, generate the adjusted path, and send the adjusted path to the stacker crane for execution.

[0025] Furthermore, in S5, motion state data segments corresponding to each node interval are extracted from historical motion state records, and feature extraction is performed on the motion state data segments of each node interval. Feature extraction includes calculating the average value of all vibration values, the maximum value of all acceleration values, and the cumulative value of all angle change values ​​within the node interval. The average value of vibration values, the maximum value of acceleration values, and the cumulative value of angle change values ​​are used as the motion state data feature values ​​of the node interval. Input the motion state data feature values ​​into the preset conversion rules, and the conversion rules output the corresponding weight adjustment values ​​according to the magnitude of the motion state data feature values; The weight adjustment value corresponding to each edge is added to the original weight of the edge to obtain the updated weight of the edge; Based on the updated weights of all edges in the topology graph, a path search is performed with the starting node as the starting point and all nodes in the set of ending nodes as the target. The path search includes calculating the cumulative updated weights of each candidate path from the current node to the next unvisited node in turn, selecting the candidate path with the smallest cumulative updated weight as the path segment from the current node to the next unvisited node, connecting each path segment in the order of visit to form a complete path, and outputting the adjusted path in the form of a node order list. The adjusted path is converted into a sequence of instructions that the stacker crane can execute. The instruction sequence includes the travel distance, travel speed and turning angle of each node interval. The instruction sequence is then sent to the stacker crane's controller via a data communication link. During the process of the stacker crane executing the adjusted path, real-time motion status data is continuously collected by sensors. The real-time motion status data includes the vibration value, acceleration value and angle change value of the stacker crane when it passes through each node interval. Obtain the actual node order traversed by the stacker crane during the execution of the adjusted path, and use the actual node order traversed as the path identifier; Align the real-time motion status data with the actual node sequence according to the collection time order to generate a data node correspondence. Attach a task execution timestamp to the data node correspondence. Combine the path identifier, data node correspondence, and timestamp to form a new motion status record. Store the new motion status record in the motion status record library. Extract motion state data segments from each node interval from the new motion state record, and calculate the motion state data feature values ​​for each node interval. The motion state data feature values ​​are compared with preset settings, which include vibration value threshold, acceleration value threshold, and angle change value threshold. When the average vibration value of a node interval exceeds the vibration value threshold, or the maximum acceleration value exceeds the acceleration value threshold, or the cumulative angle change value exceeds the angle change value threshold, a mark is added to the edge corresponding to the node interval. The mark is stored in the mark field associated with the edge in the topology graph. When a path passing through the marked edge is generated again, all historical motion state records corresponding to the edge are retrieved from the motion state record library. The motion state data feature values ​​of the node interval in each historical motion state record are extracted. All motion state data feature values ​​are arranged in the order of timestamps to form a feature value change trend sequence. When the motion state data feature values ​​of multiple consecutive timestamps in the feature value change trend sequence show an increasing trend, an additional weight adjustment value is assigned to the edge, and the additional weight adjustment value is superimposed on the original weight and weight adjustment value of the edge.

[0026] The preset conversion rules convert motion state data feature values ​​(such as average vibration, maximum acceleration, and cumulative angle change) into weight adjustment values ​​for path planning. The preset conversion rules are a set of input-output correspondences. The input is the motion state data value, and the output is the weight adjustment value. The larger the motion state data feature value, the worse the running state of the stacker crane when passing through that edge (such as severe vibration, large acceleration and deceleration impact, and frequent changes in turning speed). In this case, a higher weight adjustment value should be assigned to that edge so that it will be avoided first in subsequent path searches due to its higher weight. The preset conversion rules are based on a set of test tasks performed before or at the beginning of operation of the automated warehouse, in which the stacker crane walks along each path at a normal speed, and the motion state data feature values ​​of each edge under normal conditions are collected to form a benchmark dataset. The benchmark dataset contains the average vibration, maximum acceleration, and cumulative angle change of each edge under ideal operating conditions.

[0027] Secondly, the values ​​in the benchmark dataset are used as the reference zero point, and the transformation rule is set as a piecewise linear function or a piecewise step function. For example, when the feature value of the motion state data is below the benchmark value, the transformation rule outputs a weight adjustment value of zero; when the feature value of the motion state data exceeds the benchmark value by a certain proportion, the transformation rule outputs a weight adjustment value that is proportional to that proportion. The specific parameters of the conversion rule (such as segment intervals and proportional coefficients) are determined through experimental calibration. The calibration process includes: selecting paths with different operating conditions (such as straight sections, curved sections, and intersections) in the vertical storage; having operators determine the traffic quality score of each path based on actual operating experience or equipment maintenance records; fitting the motion state data feature values ​​with the traffic quality score; and obtaining the mapping relationship is the conversion rule. The preset settings are used to determine whether the motion state of the stacker crane when passing through a certain edge reaches the level of abnormality that needs to be marked. The motion state data feature values ​​are divided into normal range and abnormal range. Only when the feature value exceeds the preset settings will the edge be marked. The preset settings include three independent threshold parameters: vibration value threshold, acceleration value threshold, and angle change value threshold. The vibration value threshold represents the maximum allowable average vibration when the stacker crane passes through the edge. Exceeding this value indicates that there may be an abnormality in the mechanical structure or that the track is uneven. The acceleration value threshold represents the maximum allowable peak acceleration. Exceeding this value indicates that the drive system has sudden start and stop or unstable operation. The angle change value threshold represents the maximum allowable cumulative angle change. Exceeding this value indicates that the steering mechanism has been over-adjusted or the track curvature is too large.

[0028] It should be noted that adding markers involves identifying specific edges in the topology graph to indicate that these edges have experienced anomalies in their historical operation, such as motion state data feature values ​​exceeding set values. The core functions of these markers include the following: The marker, as an attribute field of the edge, is stored in the data structure associated with the edge in the topology graph. When performing path search, the marker field of the edge can be read to quickly identify which edges have historical abnormal records without having to search the motion state record database again. The marker is used to trigger the assignment of additional weight adjustment values. When a path passing through the marked edge is generated again, the historical motion state data feature value change trend of the edge will be actively obtained based on the marker, and additional weight adjustment values ​​will be assigned to the edge according to the change trend. The additional weight adjustment value is superimposed on the original weight and weight adjustment value of the edge, so that the edge has a higher updated weight when searching the path. The presence of markers allows the path search algorithm to prioritize avoiding path segments whose operating status continues to deteriorate during the calculation process. Since marked edges are given higher weights, when selecting the candidate path with the smallest cumulative weight after the update, other alternative paths with lower weights will be automatically selected, thereby avoiding the stacker crane from repeatedly passing through path segments that have experienced anomalies and whose operating status has not improved. The tagging mechanism enables the continuous impact of historical operation status on current path planning. Through the tagging mechanism, abnormal motion status data collected once is transformed into long-term effective path avoidance basis, so that path adjustment is not only based on a single historical record, but also accumulates multiple historical experiences to form a continuous memory of path quality.

[0029] Please see Figure 2 This invention also provides an automated inventory control system for instant retail, comprising: Data acquisition module: acquires the layout parameters of the automated warehouse, constructs a topology map of the walking network based on the layout parameters, the topology map includes nodes and edges, nodes correspond to work points, and sensors are installed on the stacker crane to collect motion state data of the stacker crane during the execution of tasks. Recording and storage module: Associates and stores the motion state data with the path information of the stacker crane when performing tasks, forming a motion state record; Order processing module: When a new set of instant retail orders is received, the target storage location corresponding to each order in the order set is obtained, and the starting point and ending point are determined in the topology map based on the target storage location to generate an initial path; Record retrieval module: Searches the motion state record library for historical motion state records that have the same node sequence as the initial path; Path adjustment module: Adjusts the initial path based on the motion status data in the found historical motion status records, generates the adjusted path, and sends the adjusted path to the stacker crane for execution.

[0030] Please see Figure 3The present invention also provides an automated warehouse, including a walking mechanism, a lifting mechanism and a controller, and further includes an automated inventory control system for instant retail, wherein the controller is configured to execute an automated inventory control method for instant retail. The traveling mechanism drives the stacker crane to move horizontally along the guide rails laid on the ground or track, enabling the stacker crane to run along the aisles of the automated warehouse and reach the shelf column where the operation is required. When the controller receives the adjusted path command, the traveling mechanism is responsible for executing the horizontal movement operation in the path and parking the stacker crane in the column where the target storage location is located. The lifting mechanism drives the loading platform on the stacker crane to move vertically up and down along the stacker crane column, so that the loading platform rises or falls to the designated rack layer position. After the traveling mechanism positions the stacker crane to the correct column, the lifting mechanism is responsible for accurately lifting or lowering the loading platform to the layer where the target storage location is located. The controller receives the adjusted path instructions and parses them into specific walking distances and elevations.

[0031] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0032] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0033] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0034] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0035] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automated inventory control method for instant retail, characterized in that, Includes the following steps: S1. Obtain the layout parameters of the automated warehouse, construct a topology map of the walking network based on the layout parameters, the topology map includes nodes and edges, the nodes correspond to the work points, install sensors on the stacker crane, and collect motion state data of the stacker crane during the execution of the task through the sensors. S2. The motion state data is associated with the path information of the stacker crane when performing the task and stored to form a motion state record; S3. When a new set of instant retail orders is received, obtain the target storage location corresponding to each order in the order set, determine the start and end points in the topology map based on the target storage location, and generate an initial path. S4. Search the motion state record library for historical motion state records that have the same node sequence as the initial path; S5. Adjust the initial path based on the motion state data in the found historical motion state records, generate the adjusted path, and send the adjusted path to the stacker crane for execution.

2. The automated inventory control method for instant retail according to claim 1, characterized in that, In step S1, the layout parameters of the automated warehouse are obtained. The layout parameters include the rack arrangement, the number and direction of aisles, the coordinate position of the storage compartments in three-dimensional space, the laying path of the stacker crane's running track, and the location of the stacker crane's stopping point. The work points are determined based on the layout parameters. The work points include the location of the access point of each storage compartment, the location of the stacker crane docking point, and the location of the aisle turning point. The coordinate data of each work point in three-dimensional space is extracted as the node raw data. Each work point is assigned a unique node identifier, and the node identifier is associated with the coordinate data of the work point and stored to form a node information table; Based on the aisle orientation and track laying path in the layout parameters, the walkable path between adjacent work points is determined. The walkable path between adjacent work points refers to the path segment along the track from the first work point to the second work point without passing through other work points. For each walkable path, extract the node identifiers corresponding to the work points at both ends of the path, establish an edge, associate the starting end of the edge with the starting node identifier, and associate the ending end of the edge with the ending node identifier. Measure the physical distance of each walkable path, use the physical distance value as the initial weight of the edge, and store the initial weight associated with the edge. All node information tables and all edge information are combined to form a walking network topology graph. The walking network topology graph contains a node set and an edge set. The node set contains the node identifier and node coordinate data corresponding to all work points. The edge set contains the connection relationship between all adjacent nodes and the initial weight corresponding to each edge.

3. The automated inventory control method for instant retail according to claim 2, characterized in that, Sensors are installed on the stacker crane. The sensors include at least one of vibration sensors, acceleration sensors and angle sensors. The vibration sensors are installed on the surface of the stacker crane's loading platform or column. The acceleration sensors are installed near the drive components of the traveling mechanism or lifting mechanism. The angle sensors are installed on the stacker crane's steering shaft or fork rotation mechanism. All sensors establish a data communication link with the stacker crane's controller. The motion status data of the stacker crane during the picking process is collected by sensors. The motion status data includes at least one of vibration value, acceleration value and angle change value. The vibration value is continuously output and recorded by the vibration sensor, the acceleration value is continuously recorded by the acceleration sensor, and the angle change value is monitored and recorded by the angle sensor. All motion status data are recorded in time series form, and each data point is accompanied by a timestamp of the collection time.

4. The automated inventory control method for instant retail according to claim 1, characterized in that, In step S2, the motion state data is aligned with the node order according to the collection time order to generate a data node correspondence. The data node correspondence includes the motion state data segment collected within each node interval. A timestamp is added to the data node correspondence. The timestamp records the start and end times of the task execution. The path identifier, data node correspondence, and timestamp are combined to form a motion state record. The motion state record is stored in the motion state record library.

5. The automated inventory control method for instant retail according to claim 1, characterized in that, In step S3, a pre-established inventory mapping table is obtained. The inventory mapping table stores the correspondence between item identifiers and storage location numbers. The inventory mapping table is matched and searched according to the required item identifiers of each order. The storage location number corresponding to each required item identifier is extracted from the inventory mapping table, and the extracted storage location number is determined as the target storage location corresponding to the order. The coordinate data of the current position of the stacker crane is obtained by the positioning sensor built into the stacker crane. The coordinate data of the current position of the stacker crane is compared with the coordinates of the nodes in the walking network topology diagram. The node that matches the coordinate data of the current position of the stacker crane is found and the node is determined as the starting node. Convert the storage location number corresponding to each target storage location into node coordinates in the walking network topology diagram. Based on the node coordinates, find the node corresponding to each target storage location in the walking network topology diagram. Gather all the target storage location nodes found to form the destination node set.

6. The automated inventory control method for instant retail according to claim 5, characterized in that, The connection relationship data between each node in the set of starting and ending nodes is extracted from the walking network topology graph. The initial weight data of each edge in the walking network topology graph is extracted. Based on the connection relationship data and the initial weight data, a path search method is used to generate a path sequence starting from the starting node and passing through all nodes in the set of ending nodes in sequence. During the path sequence generation process, the original weight accumulation value of each candidate path from the current node to the next unvisited node is calculated in sequence. The candidate path with the smallest original weight accumulation value is selected as the path segment from the current node to the next unvisited node. The path segments are connected in the access order to form a complete path. The complete path is output in the form of a node order list. Each node in the node order list corresponds to the work point that the stacker crane needs to reach in sequence.

7. The automated inventory control method for instant retail according to claim 1, characterized in that, In S4, a node order list is extracted from the initial path. The node order list contains the node identifiers arranged in the order of the nodes that start from the starting node, pass through each target storage node in sequence until all nodes are visited. Establish a data connection with the motion status record library, which stores multiple motion status records. Each motion status record includes a path identifier, a data node correspondence, and a timestamp. The path identifier is generated according to the order of nodes traversed by the stacker crane during the execution of its task. The node sequence list is compared item by item with the path identifiers of each motion state record in the motion state record database. The item-by-item comparison is performed by comparing whether the node identifiers are the same in the node order. The specific steps include: Compare the first node identifier in the node order list with the first node identifier in the path identifier to determine whether the two node identifiers are the same; If the first node identifier comparison result is the same, then continue to compare the second node identifier in the node order list with the second node identifier in the path identifier; Similarly, the node identifiers are compared sequentially according to their positions in their respective sequences, and each comparison determines whether the node identifiers at the current position are the same. When the comparison result between the node sequence list and the node identifier at a certain position of the path identifier is different, the comparison operation of the motion state record is stopped, and it is determined that the motion state record does not have the same node sequence as the initial path. When all node identifiers in the node order list are the same as the node identifiers at the corresponding positions in the path identifier, further determine whether the number of nodes in the node order list is consistent with the number of nodes in the path identifier. If the number of nodes is the same and the node identifiers at all corresponding positions are the same, then the motion state record is determined to have the same node sequence as the initial path. Retrieve the next motion state record from the motion state record database and repeat the above comparison operation until all motion state records in the motion state record database have been traversed. All motion state records that are determined to have the same node sequence are filtered out to form a matching record set. The data node correspondence and timestamp of each motion state record are extracted from the matching record set. The data node correspondence includes the motion state data segments collected in each adjustment interval.

8. The automated inventory control method for instant retail according to claim 1, characterized in that, In step S5, motion state data segments corresponding to each node interval are extracted from historical motion state records. Feature extraction is performed on the motion state data segments of each node interval. Feature extraction includes calculating the average value of all vibration values, the maximum value of all acceleration values, and the cumulative value of all angle changes within the node interval. The average value of vibration values, the maximum value of acceleration values, and the cumulative value of angle changes are used as the motion state data feature values ​​of the node interval. Input the motion state data feature values ​​into the preset conversion rules, and the conversion rules output the corresponding weight adjustment values ​​according to the magnitude of the motion state data feature values; The weight adjustment value corresponding to each edge is added to the original weight of the edge to obtain the updated weight of the edge; Based on the updated weights of all edges in the topology graph, a path search is performed with the starting node as the starting point and all nodes in the set of ending nodes as the target. The path search includes calculating the cumulative updated weights of each candidate path from the current node to the next unvisited node in turn, selecting the candidate path with the smallest cumulative updated weight as the path segment from the current node to the next unvisited node, connecting each path segment in the order of visit to form a complete path, and outputting the adjusted path in the form of a node order list. The adjusted path is converted into a sequence of instructions that the stacker crane can execute. The instruction sequence includes the travel distance, travel speed and turning angle of each node interval. The instruction sequence is then sent to the stacker crane's controller via a data communication link. During the process of the stacker crane executing the adjusted path, real-time motion status data is continuously collected by sensors. The real-time motion status data includes the vibration value, acceleration value and angle change value of the stacker crane when it passes through each node interval. Obtain the actual node order traversed by the stacker crane during the execution of the adjusted path, and use the actual node order traversed as the path identifier; Align the real-time motion status data with the actual node sequence according to the collection time order to generate a data node correspondence. Attach a task execution timestamp to the data node correspondence. Combine the path identifier, data node correspondence, and timestamp to form a new motion status record. Store the new motion status record in the motion status record library. Extract motion state data segments from each node interval from the new motion state record, and calculate the motion state data feature values ​​for each node interval. The motion state data feature values ​​are compared with preset settings, which include vibration value threshold, acceleration value threshold, and angle change value threshold. When the average vibration value of a node interval exceeds the vibration value threshold, or the maximum acceleration value exceeds the acceleration value threshold, or the cumulative angle change value exceeds the angle change value threshold, a mark is added to the edge corresponding to the node interval. The mark is stored in the mark field associated with the edge in the topology graph. When a path passing through the marked edge is generated again, all historical motion state records corresponding to the edge are retrieved from the motion state record library. The motion state data feature values ​​of the node interval in each historical motion state record are extracted. All motion state data feature values ​​are arranged in the order of timestamps to form a feature value change trend sequence. When the motion state data feature values ​​of multiple consecutive timestamps in the feature value change trend sequence show an increasing trend, an additional weight adjustment value is assigned to the edge, and the additional weight adjustment value is superimposed on the original weight and weight adjustment value of the edge.

9. An automated inventory control system for instant retail is applied to the automated inventory control method for instant retail as described in any one of claims 1-8, characterized in that, include: Data acquisition module: acquires the layout parameters of the automated warehouse, constructs a topology map of the walking network based on the layout parameters, the topology map includes nodes and edges, nodes correspond to work points, and sensors are installed on the stacker crane to collect motion state data of the stacker crane during the execution of tasks. Recording and storage module: Associates and stores the motion state data with the path information of the stacker crane when performing tasks, forming a motion state record; Order processing module: When a new set of instant retail orders is received, the target storage location corresponding to each order in the order set is obtained, and the starting point and ending point are determined in the topology map based on the target storage location to generate an initial path; Record retrieval module: Searches the motion state record library for historical motion state records that have the same node sequence as the initial path; Path adjustment module: Adjusts the initial path based on the motion status data in the found historical motion status records, generates the adjusted path, and sends the adjusted path to the stacker crane for execution.

10. A vertical storage unit, characterized in that, It includes a walking mechanism, a lifting mechanism, and a controller, and also includes an automated inventory control system for instant retail, the controller being configured to perform an automated inventory control method for instant retail as described in any one of claims 1-8; The traveling mechanism drives the stacker crane to move horizontally along the guide rails laid on the ground or track, enabling the stacker crane to run along the aisles of the automated warehouse and reach the shelf column where the operation is required. When the controller receives the adjusted path command, the traveling mechanism is responsible for executing the horizontal movement operation in the path and parking the stacker crane in the column where the target storage location is located. The lifting mechanism drives the loading platform on the stacker crane to move vertically up and down along the stacker crane column, so that the loading platform rises or falls to the designated rack layer position. After the traveling mechanism positions the stacker crane to the correct column, the lifting mechanism is responsible for accurately lifting or lowering the loading platform to the layer where the target storage location is located. The controller receives the adjusted path instructions and parses them into specific walking distances and elevations.

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