Method and apparatus for controlling operation of a goods access system

Abstract

The application discloses an operation control method and device applied to a goods storage and retrieval system, a computer readable medium, an electronic device and a computer program product. A specific embodiment of the method comprises: in response to receiving a device maintenance signal generated by a signal triggering device, determining an auxiliary safety area for maintaining a to-be-maintained device according to a target lane corresponding to the signal triggering device; and controlling a target device in the auxiliary safety area in the running device to run in a preset running mode, wherein the running efficiency of the target device in the preset running mode is lower than the running efficiency of the target device in a non-auxiliary safety area. The application reduces the influence of maintenance operation on system running as much as possible on the basis of ensuring the safety of maintenance personnel, and guarantees the running efficiency of the goods storage and retrieval system.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to the field of intelligent warehousing technology, and particularly to an operation control method, apparatus, computer-readable medium, electronic device, and computer program product applied to a cargo storage and retrieval system. Background Technology

[0002] Goods storage and retrieval systems are a new type of intelligent warehousing equipment that can efficiently handle goods in and out of the warehouse, significantly improving storage and retrieval efficiency and shortening the entry cycle. When maintenance personnel need to enter the system to perform maintenance in case of equipment malfunctions, ensuring the safety of maintenance personnel and minimizing the impact of maintenance operations on system operation are crucial. Summary of the Invention

[0003] This application provides an operation control method, system, device, computer-readable medium, electronic device, and computer program product for use in a cargo storage and retrieval system.

[0004] In a first aspect, embodiments of this application provide an operation control method for a cargo storage and retrieval system. The cargo storage and retrieval system includes shelves and operating equipment for storing, retrieving, and transferring goods on the shelves. A signal triggering device for triggering equipment maintenance signals is provided corresponding to the aisles between adjacent shelves. The method includes: in response to receiving an equipment maintenance signal generated by the signal triggering device, determining an auxiliary safety zone for maintaining the equipment to be maintained based on the target aisle corresponding to the signal triggering device; controlling the target equipment in the auxiliary safety zone to operate according to a preset operating mode, wherein the operating efficiency of the target equipment in the preset operating mode is lower than the operating efficiency of the target equipment in the non-auxiliary safety zone.

[0005] In some examples, the above method further includes: in response to maintenance personnel arriving at the target location of the equipment to be maintained, determining the primary safety zone from the secondary safety zone based on the target location; canceling the secondary safety zone, and controlling the target equipment in the primary safety zone to operate according to a preset operating mode.

[0006] In some examples, the above-mentioned determination of the primary safety zone from the secondary safety zone based on the target location includes: determining the size of the primary safety zone based on the maintenance type corresponding to the equipment to be maintained; and determining the primary safety zone from the secondary safety zone based on the target location and size.

[0007] In some examples, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf, the transfer vehicle and the loading platform handing over goods, and the above method further includes: determining the target transfer vehicle in the auxiliary safety area from the operating equipment based on the running trajectory of the transfer vehicle; and determining the target loading platform running in the target aisle from the operating equipment based on the correspondence between the target aisle and the loading platform.

[0008] In some examples, the operating equipment also includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, with a loading platform located on the vertical rail and capable of running vertically along the vertical rail; and the method further includes: determining the target vertical rail running in the target aisle from the operating equipment based on the correspondence between the target aisle and the vertical rail.

[0009] In some examples, the above method of determining the target transfer vehicle in the secondary safety zone from the operating equipment based on the transfer vehicle's operating trajectory includes: sending the first location information of the corner of the secondary safety zone to each transfer vehicle in the cargo storage and retrieval system, so that the target transfer vehicle in the secondary safety zone can be determined by the transfer vehicle based on its own operating trajectory.

[0010] In some examples, the above method further includes: in response to the completion of the maintenance task of the device to be maintained, controlling the target device in the secondary safety zone to operate in a preset operating mode until a preset operating mode termination signal generated by the signal triggering device is received.

[0011] In some examples, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf, the transfer vehicle and the loading platform handing over goods, and the above method further includes: determining the target transfer vehicle in the main safety area from the operating equipment based on the running trajectory of the transfer vehicle; and determining the target loading platform in the main safety area from the target loading platforms in the secondary safety area.

[0012] In some examples, the aforementioned operating equipment also includes vertical rails located outside the shelf and capable of horizontal movement along the shelf, with a loading platform located on the vertical rails and capable of vertical movement along the vertical rails; and the aforementioned method further includes: determining the target vertical rails located in the main safety area from the target vertical rails located in the secondary safety area.

[0013] In some examples, the above method of determining the target transfer vehicle in the main safety zone from the operating equipment based on the transfer vehicle's operating trajectory includes: sending the second location information of the corner of the main safety zone to each transfer vehicle, so that the target transfer vehicle in the main safety zone can be determined by the transfer vehicle based on its own operating trajectory.

[0014] In some examples, the secondary safety zone corresponding to each roadway is pre-generated in the following way: the initial secondary safety zone is determined based on the roadway; the initial secondary safety zone is expanded to obtain the secondary safety zone.

[0015] In some examples, before controlling the target device in the secondary safety zone to operate according to the preset operating mode, the method further includes: determining the preset operating mode from the set of operating modes based on the maintenance type corresponding to the device to be maintained.

[0016] Secondly, embodiments of this application provide an operation control device for a cargo storage and retrieval system. The cargo storage and retrieval system includes shelves and operating equipment for storing, retrieving, and transferring goods on the shelves. A signal triggering device for triggering equipment maintenance signals is provided corresponding to the aisles between adjacent shelves. The device includes: a region determination unit configured to determine an auxiliary safety zone for maintaining the equipment to be maintained based on the target aisle corresponding to the signal triggering device in response to receiving an equipment maintenance signal generated by the signal triggering device; and an operation control unit configured to control the target equipment in the auxiliary safety zone to operate according to a preset operation mode, wherein the operating efficiency of the target equipment in the preset operation mode is lower than the operating efficiency of the target equipment in the non-auxiliary safety zone.

[0017] In some examples, the aforementioned area determination unit is also configured to determine the primary safety zone from the secondary safety zone based on the target location when maintenance personnel arrive at the target location of the equipment to be maintained; the aforementioned operation control unit is also configured to cancel the secondary safety zone and control the target equipment in the primary safety zone to operate according to a preset operation mode.

[0018] In some examples, the aforementioned area determination unit is further configured to: determine the size of the main safety area based on the maintenance type corresponding to the equipment to be maintained; and determine the main safety area from the secondary safety areas based on the target location and size.

[0019] In some examples, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf, the transfer vehicle and the loading platform exchanging goods, and the above-mentioned device also includes: an equipment determination unit configured to: determine a target transfer vehicle in the auxiliary safety zone from the operating equipment based on the running trajectory of the transfer vehicle; and determine a target loading platform running in the target aisle from the operating equipment based on the correspondence between the target aisle and the loading platform.

[0020] In some examples, the operating equipment also includes a vertical rail located outside the rack and capable of running horizontally along the rack, with a loading platform located on the vertical rail and capable of running vertically along the vertical rail; and the aforementioned equipment determining unit is further configured to: determine the target vertical rail running in the target aisle from the operating equipment based on the correspondence between the target aisle and the vertical rail.

[0021] In some examples, the aforementioned device determination unit is further configured to send first location information at the corner of the secondary security zone to each transfer vehicle in the cargo storage and retrieval system, so as to determine the target transfer vehicle in the secondary security zone based on its own running trajectory.

[0022] In some examples, the aforementioned operation control unit is also configured to: in response to the completion of the maintenance task of the equipment to be maintained, control the target equipment in the secondary safety zone to operate in a preset operation mode until a preset operation mode termination signal generated by the signal triggering device is received.

[0023] In some examples, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle and the loading platform exchange goods. The equipment determination unit is further configured to: determine the target transfer vehicle in the main safety area from the operating equipment based on the trajectory of the transfer vehicle; and determine the target loading platform in the main safety area from the target loading platforms in the secondary safety area.

[0024] In some examples, the operating equipment also includes vertical rails located outside the shelf and capable of running horizontally along the shelf, with a loading platform located on the vertical rails and capable of running vertically along the vertical rails; and the equipment determination unit is further configured to determine the target vertical rails in the main safety area from the target vertical rails in the secondary safety area.

[0025] In some examples, the device determination unit is further configured to send second location information at the corner of the main safety zone to each transfer vehicle, so that the transfer vehicle can determine the target transfer vehicle in the main safety zone based on its own running trajectory.

[0026] In some examples, the secondary safety zone corresponding to each roadway is pre-generated in the following way: the initial secondary safety zone is determined based on the roadway; the initial secondary safety zone is expanded to obtain the secondary safety zone.

[0027] In some examples, the above-mentioned apparatus further includes a mode determination unit configured to determine a preset operating mode from a set of operating modes based on the maintenance type corresponding to the equipment to be maintained.

[0028] Thirdly, embodiments of this application provide a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, it implements the method as described in any implementation of the first aspect.

[0029] Fourthly, embodiments of this application provide an electronic device, including: one or more processors; and a storage device storing one or more programs thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation of the first aspect.

[0030] Fifthly, embodiments of this application provide a computer program product, including: a computer program that, when executed by a processor, implements the method described in any implementation of the first aspect.

[0031] The operation control method and apparatus for a cargo storage and retrieval system provided in this application respond to a maintenance signal generated by a signal triggering device, and determine an auxiliary safety zone for maintaining the equipment to be maintained based on the target lane corresponding to the signal triggering device. The method controls the target equipment within the auxiliary safety zone to operate according to a preset operating mode, wherein the operating efficiency of the target equipment in the preset operating mode is lower than that in the non-auxiliary safety zone. This controls the inefficient operation of the target equipment within the auxiliary safety zone for equipment maintenance without affecting the operation of the equipment in the non-auxiliary safety zone. While ensuring the safety of maintenance personnel, this method minimizes the impact of maintenance operations on system operation and guarantees the operational efficiency of the cargo storage and retrieval system. Attached Figure Description

[0032] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 This is an exemplary system architecture diagram in which one embodiment of this application can be applied;

[0034] Figure 2 This is a flowchart of an embodiment of the operation control method applied to a cargo storage and retrieval system according to this application;

[0035] Figures 3A-3D This is a schematic diagram of the cargo storage and retrieval system according to this embodiment;

[0036] Figure 4 This is a schematic diagram illustrating the operation of the vertical rail and loading platform on the shelf according to this embodiment;

[0037] Figure 5 This is another schematic diagram illustrating the transfer vehicle's handover of goods to the cargo platform based on the buffer position according to this embodiment;

[0038] Figure 6 This is another top view schematic diagram of the cargo storage and retrieval system according to this embodiment;

[0039] Figure 7 This is a schematic diagram illustrating the determination of the secondary safety area according to this embodiment;

[0040] Figure 8 This is a schematic diagram illustrating an application scenario of the operation control method for a cargo storage and retrieval system according to this embodiment;

[0041] Figure 9 This is a schematic diagram of the main security area according to this embodiment;

[0042] Figure 10 This is a flowchart of yet another embodiment of the operation control method applied to a cargo storage and retrieval system according to this application;

[0043] Figure 11 This is a structural diagram of an embodiment of an operation control device applied to a cargo storage and retrieval system according to this application;

[0044] Figure 12 This is a schematic diagram of the structure of a computer system suitable for implementing the embodiments of this application. Detailed Implementation

[0045] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0047] It should be noted that the collection, gathering, updating, analysis, processing, use, transmission, and storage of user personal information involved in this disclosed technical solution all comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken to prevent unauthorized access to user personal information data and to safeguard user personal information security, network security, and national security.

[0048] Figure 1 An exemplary architecture 100 for operation control methods and apparatus for cargo storage and retrieval systems, which can be applied according to this application, is shown.

[0049] like Figure 1 As shown, the system architecture 100 may include terminal devices 101, 102, and 103, a network 104, and a server 105. The communication connections between terminal devices 101, 102, and 103 form a network topology. Network 104 serves as the medium for providing communication links between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0050] Terminal devices 101, 102, and 103 can interact with server 105 via network 104 to receive or send data. Terminal devices 101, 102, and 103 can be hardware or software that supports network connectivity for data interaction and processing. When terminal devices 101, 102, and 103 are hardware, they can be various electronic devices that support network connectivity, information acquisition, interaction, display, and processing functions, including but not limited to vertical rails, loading platforms, transfer vehicles, signal triggering devices, etc., in a cargo storage system. When terminal devices 101, 102, and 103 are software, they can be installed in the aforementioned electronic devices. They can be implemented as multiple software programs or software modules, for example, to provide distributed services, or as a single software program or software module. No specific limitations are made here.

[0051] Server 105 can be a server that provides various services, such as a background processing server that sends execution instructions to terminal devices 101, 102, and 103 to control their operation. As an example, server 105 can be a cloud server.

[0052] It should be noted that a server can be either hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software programs or software modules (such as software programs or software modules used to provide distributed services), or as a single software program or software module. No specific limitations are made here.

[0053] It should also be noted that the operation control method for a cargo storage and retrieval system provided in the embodiments of this application is generally executed by a server, but the possibility of it being executed by a terminal device, or by a combination of the server and the terminal device, is not excluded. Accordingly, the various parts (e.g., various units) of the operation control device for a cargo storage and retrieval system can all be located in the server, all in the terminal device, or separately in the server and the terminal device.

[0054] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Any number of terminal devices, networks, and servers can be included depending on implementation needs. When the electronic equipment running on the operation control method of the cargo storage system does not need to transmit data with other electronic equipment, the system architecture may only include the electronic equipment (e.g., servers or terminal devices) running on the operation control method of the cargo storage system.

[0055] Continue to refer to Figure 2 The flowchart 200 illustrates an embodiment of an operation control method applied to a cargo storage and retrieval system.

[0056] To clearly explain the operation control method applied to the goods storage and retrieval system, the goods storage and retrieval system will be described as follows:

[0057] Continue to refer to Figures 3A-3D A schematic diagram of the cargo storage and retrieval system is shown. Figure 3A A three-dimensional structural diagram of the cargo storage and retrieval system is shown. Figure 3B A side view of the cargo storage and retrieval system is shown. Figure 3C A top view of the cargo storage and retrieval system is shown. Figure 3D A complete structural diagram of the cargo storage and retrieval system is shown.

[0058] The goods storage and retrieval system 300 includes shelves 302 and operating equipment for storing, retrieving, and transferring goods on the shelves. The operating equipment includes, for example, a transfer cart 301 and a loading platform 304 located outside the shelves and operating on the shelves. The transfer cart operates based on a unit area on its operating plane to exchange goods with the loading platform. For example, the loading platform can be moved horizontally and vertically along the outside of the shelves using a basket device; or, for example, the shelves are equipped with horizontal and vertical tracks, allowing the loading platform to move horizontally along the outside of the shelves via the horizontal tracks and vertically along the outside of the shelves via the vertical tracks.

[0059] In some implementations, the goods storage and retrieval system also includes horizontally movable vertical rails 303 located outside the shelving, and vertically movable loading platforms. A unit area is a region of a certain size obtained by dividing the operating plane, such as a grid. Operating objects such as transfer vehicles, vertical rails, and loading platforms can set corresponding permissions for unit areas. Operating objects with permissions set for a unit area have exclusive rights against other operating objects that may collide with that object and subsequently want to set permissions for that unit area. Specifically, permission settings include, for example, vertical rails and loading platforms setting a prohibited operating state for a unit area, and transfer vehicles acquiring operating permissions for that unit area. After vertical rails and loading platforms set a prohibited operating state for a unit area, transfer vehicles that may collide with vertical rails or loading platforms cannot operate in the prohibited unit area; after a transfer vehicle acquires operating permissions for a unit area, vertical rails that may collide with the transfer vehicle cannot operate above the unit area, and loading platforms that may collide with the transfer vehicle will not move to a target position close to the transfer vehicle's operating plane.

[0060] Continue to refer to Figure 4 This diagram illustrates the operation of the vertical rails and loading platform on the shelf. Specifically, Figure 4 The process of the loading platform moving from storage position 306 to storage position 307 or buffer position 308 to perform tasks is shown.

[0061] By combining the horizontal movement of the vertical rails with the vertical movement of the loading platform, the loading platform can perform the operations of moving (storing) and moving (retrieving) goods to any storage location on the rack, and can transfer goods with the transfer vehicles on the operating plane. The transfer vehicles can directly contact the loading platform to transfer goods, or they can use an indirect contact method to transfer goods.

[0062] Continue to refer to Figure 3B In a goods storage and retrieval system, shelves are typically arranged in pairs facing each other, with aisles between them. When a transfer vehicle needs to exchange goods with a loading platform based on a buffer position, it generally needs to travel perpendicular to the length of the aisle to reach the buffer position. The transfer vehicle is equipped with a lifting mechanism, on which goods can be placed. During the process of storing goods on the shelf, the transfer vehicle carrying goods travels along its corresponding route to the bottom of the shelf, raises its lifting mechanism, and travels perpendicular to the length of the aisle to place the goods in the buffer position below the bottom storage position of the shelf. The loading platform can then place the goods from the buffer position to the target storage position on the shelf. During the process of retrieving goods from the shelf, the vertical rails and the loading platform work together to place the goods from the shelf into the buffer position on the shelf. After the transfer vehicle travels perpendicular to the length of the aisle to the bottom of the buffer position, it raises its lifting mechanism to lift the goods and place them on the lifting mechanism, then reverses into the aisle, lowers the lifting mechanism, and transports the goods to the designated destination.

[0063] For shelves arranged opposite each other, a vertical rail and loading platform can be installed on one shelf, while a buffer space can be installed below the bottom storage location of the other shelf. Thus, during the horizontal movement of the vertical rail, because the transfer vehicle only exchanges goods with the buffer space on the opposite shelf, there is no possibility of collision between the vertical rail and the transfer vehicle.

[0064] Continue to refer to Figure 5 The diagram illustrates the transfer of goods between a transport vehicle and a loading platform based on buffer positions. For opposing racks, buffer positions can be placed below the bottom storage positions of both racks, while the vertical rails and loading platform are only installed on one of the racks. It is understood that increasing the number of buffer positions helps improve the storage and retrieval efficiency of the goods storage system.

[0065] Process 200 includes the following steps:

[0066] Step 201: In response to receiving the equipment maintenance signal generated by the signal triggering device, determine the auxiliary safety zone for maintaining the equipment to be maintained according to the target roadway corresponding to the signal triggering device.

[0067] In this embodiment, the aforementioned execution entity can respond to the equipment maintenance signal generated by the signal triggering device and determine the auxiliary safety zone for maintaining the equipment to be maintained based on the target roadway corresponding to the signal triggering device.

[0068] Signal triggering devices are installed corresponding to the aisles between adjacent shelves. For example, one signal triggering device is installed for each aisle in the goods storage and retrieval system. The signal triggering device is used to generate equipment maintenance signals so that the aforementioned execution entity is aware that maintenance personnel are about to perform maintenance on the operating equipment in the goods storage and retrieval system. The signal triggering device is, for example, a button, a safety door, or other device. When the maintenance personnel trigger the button or open the safety door, the button or opening the safety door generates an equipment maintenance signal and transmits the equipment maintenance signal to the aforementioned execution entity.

[0069] Continue to refer to Figure 6 This shows another top view of the cargo storage and retrieval system. A safety door 305 is installed for each aisle. Each safety door corresponds to a secondary safety zone 309.

[0070] As an example, in response to receiving an equipment maintenance signal generated by a signal triggering device, the target roadway corresponding to the signal triggering device that issued the equipment maintenance signal can be determined based on the correspondence between the signal triggering device and the roadway, thereby defining the area represented by the target roadway as a secondary safety zone for maintaining the equipment to be maintained.

[0071] As another example, after determining the target roadway corresponding to the signal triggering device that issues the equipment maintenance signal, the area represented by the target roadway can be scaled to obtain the auxiliary safety zone.

[0072] In some implementations of this embodiment, the secondary safety zone corresponding to each roadway is pre-generated in the following manner:

[0073] The first step is to determine the initial auxiliary safety zone based on the roadway.

[0074] As an example, the aforementioned implementing entity can determine the area represented by the roadway as the initial secondary safety zone.

[0075] The second step is to expand the initial secondary safe region to obtain the secondary safe region.

[0076] In this implementation, the initial secondary safety region can be expanded according to a preset expansion ratio or expansion size to obtain the secondary safety region.

[0077] Continue to refer to Figure 7 The diagram shows the determination of the secondary safety zone.

[0078] Based on the initial secondary safety region, a unit region is extended outward in each direction, and the secondary safety region is characterized by the coordinate information of the navigation code point 311 of the unit region at the four corners of the extended region. Figure 7 The coordinates of the central auxiliary safety zone are (X1, Y1), (X2, Y1), (X1, Y2), (X2, Y2).

[0079] In this implementation, an auxiliary safety zone is obtained by expanding the initial auxiliary safety zone based on the target roadway. The expanded zone can serve as a buffer space for the operating equipment to switch from normal mode to preset operating mode, avoiding the problem of mode change delay when the target equipment enters the target roadway, and helping to further ensure the safety of maintenance personnel during the maintenance process.

[0080] Step 202: Control the target device in the auxiliary safety zone of the operating equipment to operate according to the preset operating mode.

[0081] In this embodiment, the aforementioned execution entity can control the target device located in the secondary security zone to operate according to a preset operating mode. The operating efficiency of the target device in the preset operating mode is lower than its operating efficiency in the non-secondary security zone.

[0082] The preset operating mode is, for example, pause or low-speed operation. The preset operating mode may be the same or different for different operating devices.

[0083] As an example, the aforementioned executing entity can determine the target equipment in the following way: As a warehouse automation system, the operating trajectories of the equipment within the goods storage system are predetermined based on the goods storage task and the operating status of the equipment. The aforementioned executing entity can then determine the future operating trajectories of all operating equipment within the goods storage system.

[0084] After determining the operating trajectory of the running equipment, it can be determined whether there is an intersection between the operating trajectory and the secondary safety zone; that is, whether the running equipment passes through the secondary safety zone when running based on the operating trajectory. In response to determining that there is an intersection between the operating trajectory of a running equipment and the secondary safety zone, the running equipment is identified as the target equipment. For target equipment whose operating trajectory involves the secondary safety zone, the current position of the target equipment is obtained in real time, or the target time period in the secondary safety zone is predicted based on the operating trajectory (to ensure the reliability of the target time period, it can be extended to obtain a longer time period). Within the target time period, the current position of the target equipment is obtained in real time to determine whether the target equipment is within the secondary safety zone.

[0085] As another example, the aforementioned executing entity can also determine the target device in the following way: send the location range information of the secondary security area to each operating device in the cargo storage and retrieval system, and determine whether the operating device is a target device involving the secondary security area based on its own operating trajectory; when the operating device is a target device whose operating trajectory involves the secondary security area, it autonomously determines whether it is in the secondary security area in real time based on its current location during the operation according to the operating trajectory.

[0086] The target equipment operates normally in the non-auxiliary safety zone outside the auxiliary safety zone according to the predetermined operating parameters. When the target equipment enters the auxiliary safety zone from the non-auxiliary safety zone, the operating mode changes from the normal operating mode to the preset operating mode, so as to ensure the safety of maintenance personnel during equipment maintenance through inefficient operation.

[0087] It should be noted that the operating equipment can operate entirely based on the control commands of the aforementioned executing entity, or it can have a certain information processing capability and operate autonomously, either fully or partially, based on the auxiliary safety zone and according to a preset operating mode.

[0088] See also Figure 8 , Figure 8 This is a schematic diagram 800 illustrating an application scenario of the operation control method for a cargo storage and retrieval system according to this embodiment. Figure 8 In the application scenario, the goods storage and retrieval system 801 includes a transfer vehicle, a shelf, a vertical rail located outside the shelf and capable of running horizontally, and a loading platform capable of running vertically along the vertical rail. The transfer vehicle runs based on the unit area on its operating plane to exchange goods with the loading platform.

[0089] Server 802 interacts with the cargo storage and retrieval system 801 in real time to determine data such as the operating routes, positions, and statuses of the transfer vehicles, vertical rails, and loading platforms, as well as to receive equipment maintenance signals from the signal triggering device. In response to the received equipment maintenance signal, server 802 determines an auxiliary safety zone 803 for maintaining the equipment to be maintained, based on the target aisle corresponding to the signal triggering device; identifies the target equipment located within the auxiliary safety zone from the operating equipment; and controls the target equipment within the auxiliary safety zone to operate according to a preset operating mode, wherein the operating efficiency of the target equipment in the preset operating mode is lower than its operating efficiency outside the auxiliary safety zone.

[0090] The method provided in the above embodiments of this application, in response to receiving an equipment maintenance signal generated by a signal triggering device, determines an auxiliary safety zone for maintaining the equipment to be maintained based on the target roadway corresponding to the signal triggering device; controls the target equipment in the auxiliary safety zone to operate according to a preset operating mode, wherein the operating efficiency of the target equipment in the preset operating mode is lower than the operating efficiency of the target equipment in the non-auxiliary safety zone, thereby controlling the low-efficiency operation of the target equipment in the auxiliary safety zone for equipment maintenance without affecting the operation process of the operating equipment in the non-auxiliary safety zone, thereby minimizing the impact of maintenance operations on system operation while ensuring the safety of maintenance personnel, and ensuring the operating efficiency of the cargo storage and retrieval system.

[0091] In some implementations of this embodiment, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf, with the transfer vehicle and loading platform handling goods. The target equipment includes a target transfer vehicle and a target loading platform.

[0092] In this implementation, before executing step 202 above, the execution entity can also perform the target device determination process in the following manner:

[0093] 1. Based on the operating trajectory of the transfer vehicle, identify the target transfer vehicle located in the auxiliary safety zone from the operating equipment.

[0094] The transfer vehicle operates based on unit areas on its operating plane. Navigation checkpoints are set up in each unit area to guide the transfer vehicle in determining its current location during operation. Based on the unit area where the transfer vehicle is located during its operation along its trajectory, the target transfer vehicle located in the secondary safety zone can be identified.

[0095] 2. Based on the correspondence between the target roadway and the loading platform, determine the target loading platform running in the target roadway from the operating equipment.

[0096] The loading platform is set on the shelf, and its correspondence with the target aisle is fixed. Based on the correspondence between the target aisle and the loading platform, the loading platform corresponding to the target aisle can be identified as the target loading platform.

[0097] It is understandable that the cargo platform in the target tunnel has been operating in the auxiliary safety zone.

[0098] This implementation provides a specific method for determining the target device, which improves the comprehensiveness and efficiency of the determined target device.

[0099] In some implementations of this embodiment, the operating equipment also includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, and a loading platform located on the vertical rail and capable of running vertically along the vertical rail.

[0100] In this implementation, the aforementioned executing entity may also perform the following operation during the process of determining the target equipment: based on the correspondence between the target roadway and the vertical rail, determine the target vertical rail running in the target roadway from the operating equipment.

[0101] The vertical rails are installed on the shelf, and their correspondence with the target aisle is fixed. Based on the correspondence between the target aisle and the vertical rails, the vertical rail corresponding to the target aisle can be identified as the target vertical rail.

[0102] In this implementation, the target equipment includes the target transfer vehicle, the target vertical rail, and the target loading platform, which further improves the comprehensiveness and efficiency of the identified target equipment.

[0103] In this implementation, the execution order of the target transfer vehicle determination operation, the target rail determination operation, and the target loading platform determination operation is not limited. The three operations can be executed sequentially or simultaneously.

[0104] In some optional implementations of this embodiment, the execution entity can perform the target transfer vehicle determination process in the following manner: send the first location information of the corner of the auxiliary security area to each transfer vehicle in the cargo storage and retrieval system, so that the target transfer vehicle in the auxiliary security area can be determined by the transfer vehicle according to its own running trajectory.

[0105] Continue to refer to Figure 7 The aforementioned executing entity can use the coordinates (X1, Y1), (X2, Y1), (X1, Y2), and (X2, Y2) corresponding to the secondary safety zone as the first position information at the corner of the secondary safety zone, and send this information to each transfer vehicle in the cargo storage and retrieval system. Each transfer vehicle can easily determine the secondary safety zone (generally a rectangular area) based on the position information at its corner, and thus, during its operation according to its own trajectory, determine whether it is within the secondary safety zone based on its current position. In response to being within the secondary safety zone, the target transfer vehicle is identified as being within the secondary safety zone.

[0106] In this implementation, the aforementioned executing entity only sends out the first position information at the corner of the auxiliary safety area, avoiding the problem of sending out a large number of coordinates, improving the timeliness and reliability of the sending operation, and helping to improve the efficiency of determining the target transport vehicle.

[0107] In some implementations of this embodiment, the aforementioned execution entity may also perform the following operations:

[0108] The first step is to respond to the arrival of maintenance personnel at the target location of the equipment to be maintained, and to determine the primary safety zone from the secondary safety zone based on the target location.

[0109] When an abnormality occurs in the operating equipment of the cargo storage and retrieval system, an abnormality signal can be reported, enabling the aforementioned execution entity to determine the target location of the equipment to be maintained based on the abnormality signal. When maintenance personnel reach the target location of the equipment to be maintained, they can send a command to the aforementioned execution entity via a PDA (Personal Digital Assistant) or other communication device to reach the target location. The aforementioned execution entity responds to the command and determines the primary security zone from the secondary security zone with reference to the target location.

[0110] Continue to refer to Figure 9 This diagram illustrates the primary security area. The secondary security area 309 includes the primary security area 310.

[0111] For example, a fixed-size area can be set up centered on the target location and used as the main safety zone.

[0112] The second step is to cancel the secondary safety zone and control the target device in the primary safety zone to operate according to the preset operating mode.

[0113] The purpose of canceling the secondary safety zone is to control the target device in the secondary safety zone to no longer operate according to the preset operating mode, but to operate according to the normal mode.

[0114] The target equipment operates normally in a non-primary safety zone outside the primary safety zone according to predetermined operating parameters. When the target equipment enters the primary safety zone from the non-primary safety zone, the operating mode changes from the normal operating mode to the preset operating mode, so as to ensure the safety of maintenance personnel during equipment maintenance through inefficient operation.

[0115] In this implementation, a smaller main security zone is defined during the actual maintenance process, which further reduces the impact of maintenance operations on system operation while ensuring the safety of maintenance personnel.

[0116] In some implementations of this embodiment, the execution entity can perform the determination of the main security region in the first step as follows:

[0117] First, determine the dimensions of the main safety zone based on the maintenance type of the equipment to be maintained.

[0118] Maintenance types include regular inspections, checks, and emergency troubleshooting, among others, depending on their severity.

[0119] As an example, based on past maintenance experience, the correlation between the severity of maintenance types and their dimensions can be determined. Then, after determining the maintenance type for the equipment to be maintained, the dimensions of the main safety zone can be determined according to this correlation.

[0120] Then, based on the target location and size, the primary safety zone is determined from the secondary safety zone.

[0121] In this implementation, the main safety area of ​​the above dimensions can be determined with the target location as the center.

[0122] In this implementation, the size of the main safety zone can be flexibly determined according to the actual maintenance situation, which improves the adaptability of the main safety zone to the actual maintenance situation and helps to further reduce the impact of maintenance operations on system operation.

[0123] In some implementations of this embodiment, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf, with the transfer vehicle and loading platform handling the goods.

[0124] In this implementation, before executing the second step described above, the executing entity may also perform the process of determining the target equipment in the main safety zone in the following manner: based on the running trajectory of the transfer vehicle, determine the target transfer vehicle in the main safety zone from the running equipment; determine the target loading platform in the main safety zone from the target loading platforms in the auxiliary safety zone.

[0125] The transfer vehicle operates based on unit areas on its operating plane. Navigation checkpoints are set up in each unit area to guide the transfer vehicle in determining its current location during operation. Based on the unit areas the transfer vehicle is located in during its operation along its trajectory, the target transfer vehicle within the main safety zone can be identified.

[0126] The main safety zone is a part of the secondary safety zone, and the target loading platform located in the main safety zone must be located in the target loading platform located in the secondary safety zone.

[0127] After determining the primary safety zone, the target loading platform in the primary safety zone can be identified from the target loading platforms in the secondary safety zone.

[0128] This implementation provides a method for determining target devices located in the main security zone, which improves the efficiency and accuracy of target device determination.

[0129] In some implementations of this embodiment, the above-mentioned operating equipment also includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, and a loading platform located on the vertical rail and capable of running vertically along the vertical rail.

[0130] In this implementation, the execution entity may also perform the following operation during the process of determining the target device: determine the target rail in the main safety zone from the target rail in the auxiliary safety zone.

[0131] The primary security zone is a part of the secondary security zone; therefore, target tracks located in the primary security zone must also be located in the secondary security zone. For target tracks located in the secondary security zone, those located in the primary security zone are selected as the target tracks.

[0132] In this implementation, the target equipment includes the target transfer vehicle, the target vertical rail, and the target loading platform, which further improves the comprehensiveness and efficiency of the identified target equipment.

[0133] In this implementation, the execution order of the target transfer vehicle determination operation, the target rail determination operation, and the target loading platform determination operation is not limited. The three operations can be executed sequentially or simultaneously.

[0134] In some implementations of this embodiment, the execution entity can perform the target transfer vehicle determination process in the following way: send the second position information of the corner of the main safety area to each transfer vehicle, so that the transfer vehicle can determine the target transfer vehicle in the main safety area according to its own running trajectory.

[0135] The aforementioned executing entity can use the coordinates of the navigation code points at the corners of the main safety zone as secondary location information for those corners, and send this information to each target transfer vehicle in the cargo storage and retrieval system. Based on the location information at the corners, the target transfer vehicle can easily determine the main safety zone (generally a rectangular area), and thus, during its operation according to its own trajectory, the transfer vehicle can determine whether it is within the main safety zone based on its current position.

[0136] In this implementation, the aforementioned executing entity only sends out the second location information at the corner of the main safety area, avoiding the problem of sending out a large number of coordinates, improving the timeliness and reliability of the sending operation, and helping to improve the efficiency of determining the target transport vehicle.

[0137] In some implementations of this embodiment, before performing step 202, the execution entity may also perform the following operation: determine a preset operating mode from the set of operating modes according to the maintenance type corresponding to the device to be maintained.

[0138] The set of operating modes includes multiple operating modes, such as pause and multiple operating modes under different operating efficiencies. Based on past maintenance experience, the correspondence between the severity of maintenance types and operating modes is determined; for example, the severity of maintenance types and the operating efficiency of operating modes are negatively correlated.

[0139] In this implementation, the preset operating mode is determined according to the maintenance type of the equipment to be maintained, which helps to further ensure the safety of maintenance personnel and reduce the impact of maintenance operations on system operation.

[0140] In some implementations of this embodiment, the execution entity may also perform the following operations: in response to the completion of the maintenance task of the device to be maintained, control the target device in the auxiliary safety zone to operate in a preset operating mode until a preset operating mode termination signal generated by the signal triggering device is received.

[0141] The preset operation mode termination signal is used to indicate that the target equipment in the secondary safety area will no longer operate according to the preset mode, but will instead return to the normal operation mode. For example, when the signal triggering device is a button, the maintenance personnel can generate the preset operation mode termination signal by completing the maintenance task, leaving the secondary safety area, and triggering the button again; or, for example, when the signal triggering device is a safety door, the maintenance personnel can generate the preset operation mode termination signal by completing the maintenance task, leaving the secondary safety area, and closing the safety door.

[0142] The maintenance process generally includes: the maintenance personnel triggering the signal triggering device of the target roadway to generate an equipment maintenance signal; the aforementioned execution entity generates an auxiliary safety zone based on the equipment maintenance signal; the maintenance personnel enter the auxiliary safety zone and reach the target location of the equipment to be maintained; during this process, the aforementioned execution entity controls the target equipment in the auxiliary safety zone to operate according to a preset operating mode; the aforementioned execution entity generates a main safety zone based on the target location and cancels the auxiliary safety zone; during the maintenance personnel's maintenance operation, the aforementioned execution entity controls the target equipment in the main safety zone to operate according to a preset operating mode; after the maintenance personnel complete the maintenance operation, they need to exit from the main safety zone, enter the auxiliary safety zone outside the main safety zone, and further exit from the auxiliary safety zone.

[0143] Corresponding to the aforementioned walking trajectory of maintenance personnel, in response to the completion of the maintenance task of the equipment to be maintained, the target equipment in the auxiliary safety zone is controlled to operate according to the preset operating mode until it is determined that the maintenance personnel have left the auxiliary safety zone. While ensuring the safety of maintenance personnel, this further reduces the impact of maintenance operations on system operation and ensures the operating efficiency of the goods storage and retrieval system.

[0144] Continue to refer to Figure 10 The illustration shows a schematic flow 1000 of another embodiment of the operation control method for a cargo storage and retrieval system according to this application, including the following steps:

[0145] Step 1001: In response to receiving the equipment maintenance signal generated by the signal triggering device, determine the auxiliary safety zone for maintaining the equipment to be maintained according to the target roadway corresponding to the signal triggering device.

[0146] The goods storage and retrieval system includes racks and operating equipment for storing, retrieving, and transferring goods on the racks. Aisles between adjacent racks are equipped with signal triggering devices to activate equipment maintenance signals.

[0147] Step 1002: Identify the target equipment located in the auxiliary safety zone from the operating equipment.

[0148] Step 1003: Control the target device in the auxiliary safety zone to operate according to the preset operating mode.

[0149] Among them, the operating efficiency of the target device in the preset operating mode is lower than that of the target device in the non-auxiliary safety area.

[0150] Step 1004: In response to the maintenance personnel arriving at the target location of the equipment to be maintained, the primary safety zone is determined from the secondary safety zone based on the target location.

[0151] Step 1005: Identify the target device located in the main safety zone from the operating equipment.

[0152] Step 1006: Cancel the secondary safety zone and control the target device in the primary safety zone to operate according to the preset operating mode.

[0153] Step 1007: In response to the completion of the maintenance task of the equipment to be maintained, control the target equipment in the auxiliary safety zone to operate in a preset operating mode until a preset operating mode termination signal generated by the signal triggering device is received.

[0154] As can be seen from this embodiment, with Figure 2 Compared with the corresponding embodiments, the flow 1000 of the operation control method applied to the cargo storage and retrieval system in this embodiment specifically illustrates the operation process of target equipment in different areas according to the preset operation mode. While ensuring the safety of maintenance personnel, it minimizes the impact of maintenance operations on system operation and ensures the operating efficiency of the cargo storage and retrieval system.

[0155] Continue to refer to Figure 11 As an implementation of the methods shown in the above figures, this application provides an embodiment of an operation control device applied to a cargo storage and retrieval system. This device embodiment is similar to... Figure 2 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0156] like Figure 11 As shown, the goods storage and retrieval system includes shelves and operating equipment for storing, retrieving, and transferring goods on the shelves. A signal triggering device is provided for triggering equipment maintenance signals in the aisles between adjacent shelves. The operation control device 1100 applied to the goods storage and retrieval system includes: a region determination unit 1101, configured to determine an auxiliary safety zone for maintaining the equipment to be maintained based on the target aisle corresponding to the signal triggering device in response to receiving the equipment maintenance signal generated by the signal triggering device; and an operation control unit 1102, configured to control the target equipment in the auxiliary safety zone to operate according to a preset operation mode, wherein the operating efficiency of the target equipment in the preset operation mode is lower than the operating efficiency of the target equipment in the non-auxiliary safety zone.

[0157] In some implementations of this embodiment, the area determination unit 1101 is further configured to determine the main safety area from the secondary safety area based on the target location when maintenance personnel arrive at the target location of the equipment to be maintained; the operation control unit 1102 is further configured to cancel the secondary safety area and control the target equipment in the main safety area to operate according to a preset operation mode.

[0158] In some implementations of this embodiment, the area determination unit 1101 is further configured to: determine the size of the main safety area according to the maintenance type of the device to be maintained; and determine the main safety area from the secondary safety area according to the target location and size.

[0159] In some implementations of this embodiment, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle and the loading platform exchange goods. The device also includes an equipment determination unit (not shown in the figure) configured to: determine a target transfer vehicle located in the auxiliary safety zone from the operating equipment based on the running trajectory of the transfer vehicle; and determine a target loading platform running in the target aisle from the operating equipment based on the correspondence between the target aisle and the loading platform.

[0160] In some implementations of this embodiment, the operating equipment further includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, a loading platform located on the vertical rail and capable of running vertically along the vertical rail; and the aforementioned equipment determining unit is further configured to: determine the target vertical rail running in the target aisle from the operating equipment according to the correspondence between the target aisle and the vertical rail.

[0161] In some implementations of this embodiment, the device determining unit is further configured to send the first location information of the corner of the secondary safety zone to each transfer vehicle in the cargo storage and retrieval system, so as to determine the target transfer vehicle in the secondary safety zone based on its own running trajectory.

[0162] In some implementations of this embodiment, the above-mentioned operation control unit 1102 is further configured to: in response to the completion of the maintenance task of the device to be maintained, control the target device in the auxiliary safety zone to operate in a preset operation mode until a preset operation mode termination signal generated by the signal triggering device is received.

[0163] In some implementations of this embodiment, the operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle and the loading platform exchange goods. The equipment determination unit is further configured to: determine the target transfer vehicle in the main safety area from the operating equipment based on the running trajectory of the transfer vehicle; and determine the target loading platform in the main safety area from the target loading platforms in the secondary safety area.

[0164] In some implementations of this embodiment, the operating device further includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, a loading platform located on the vertical rail and capable of running vertically along the vertical rail; and the device determining unit is further configured to: determine the target vertical rail located in the main safety area from the target vertical rail located in the secondary safety area.

[0165] In some implementations of this embodiment, the device determination unit is further configured to send the second location information of the corner of the main safety area to each transfer vehicle, so as to determine the target transfer vehicle in the main safety area based on its own running trajectory.

[0166] In some implementations of this embodiment, the secondary safety zone corresponding to each roadway is pre-generated in the following manner: an initial secondary safety zone is determined based on the roadway; the initial secondary safety zone is expanded to obtain the secondary safety zone.

[0167] In some implementations of this embodiment, the above-mentioned device further includes: a mode determination unit (not shown in the figure), configured to determine a preset operating mode from a set of operating modes according to the maintenance type corresponding to the equipment to be maintained.

[0168] In this embodiment, the area determination unit in the operation control device applied to the cargo storage and retrieval system responds to the equipment maintenance signal generated by the signal triggering device and determines the auxiliary safety area for maintaining the equipment to be maintained according to the target lane corresponding to the signal triggering device. The operation control unit controls the target equipment in the auxiliary safety area to operate according to a preset operation mode. The operating efficiency of the target equipment in the preset operation mode is lower than that of the target equipment in the non-auxiliary safety area. Therefore, the target equipment operating in the auxiliary safety area for equipment maintenance is controlled to operate inefficiently without affecting the operation process of the operating equipment in the non-auxiliary safety area. While ensuring the safety of maintenance personnel, the impact of maintenance operations on system operation is minimized, thus ensuring the operating efficiency of the cargo storage and retrieval system.

[0169] The following is for reference. Figure 12 It illustrates a device suitable for implementing embodiments of this application (e.g., Figure 1 The diagram shows the structure of the computer system 1200 of the devices 101, 102, 103, and 105. Figure 12 The device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0170] like Figure 12 As shown, the computer system 1200 includes a processor (e.g., CPU, Central Processing Unit) 1201, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1202 or a program loaded from storage section 1208 into random access memory (RAM) 1203. The RAM 1203 also stores various programs and data required for the operation of the system 1200. The processor 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0171] The following components are connected to I / O interface 1205: an input section 1206 including a keyboard, mouse, etc.; an output section 1207 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN card, modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to I / O interface 1205 as needed. Removable media 1211, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1210 as needed so that computer programs read from them can be installed into storage section 1208 as needed.

[0172] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1209, and / or installed from removable medium 1211. When the computer program is executed by processor 1201, it performs the functions defined in the methods of this application.

[0173] It should be noted that the computer-readable medium of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0174] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the client computer, partially on the client computer, as a standalone software package, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the client computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0175] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0176] The units described in the embodiments of this application can be implemented in software or hardware. The described units can also be housed in a processor; for example, they can be described as: a processor including a region determination unit and an operation control unit. The names of these units do not necessarily limit the unit itself; for example, the region determination unit can also be described as "a unit that, in response to receiving a device maintenance signal generated by a signal triggering device, determines an auxiliary safety zone for maintaining the equipment to be maintained based on the target roadway corresponding to the signal triggering device."

[0177] In another aspect, this application also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the computer device to: in response to receiving a device maintenance signal generated by a signal triggering device, determine a secondary safety zone for maintaining the device to be maintained based on the target roadway corresponding to the signal triggering device; and control the target device in the secondary safety zone to operate according to a preset operating mode, wherein the operating efficiency of the target device in the preset operating mode is lower than the operating efficiency of the target device in a non-secondary safety zone.

[0178] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An operation control method for a goods storage and retrieval system, the goods storage and retrieval system including shelves and operating equipment for storing, retrieving, and transferring goods on the shelves, wherein a signal triggering device for triggering equipment maintenance signals is provided corresponding to the aisles between adjacent shelves, the method comprising: In response to receiving the equipment maintenance signal generated by the signal triggering device, a secondary safety zone for maintaining the equipment to be maintained is determined according to the target roadway corresponding to the signal triggering device; The target device in the auxiliary safety zone of the operating equipment is controlled to operate according to a preset operating mode, wherein the operating efficiency of the target device in the preset operating mode is lower than the operating efficiency of the target device in the non-auxiliary safety zone.

2. The method according to claim 1, wherein, Also includes: In response to maintenance personnel arriving at the target location of the equipment to be maintained, a primary safety zone is determined from the secondary safety zone based on the target location; Cancel the secondary safety zone and control the target device in the main safety zone of the operating equipment to operate according to the preset operating mode.

3. The method according to claim 2, wherein, Determining the primary security area from the secondary security area based on the target location includes: The dimensions of the main safety zone are determined based on the maintenance type of the equipment to be maintained. The primary safety zone is determined from the secondary safety zone based on the target location and the dimensions.

4. The method according to claim 1, wherein, The operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle and the loading platform exchange goods. The method further includes: Based on the operating trajectory of the transfer vehicle, the target transfer vehicle located in the auxiliary safety zone is determined from the operating equipment; Based on the correspondence between the target roadway and the loading platform, the target loading platform operating in the target roadway is determined from the operating equipment.

5. The method according to claim 4, wherein, The operating equipment also includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, and the loading platform is located on the vertical rail and can run vertically along the vertical rail; as well as The method further includes: Based on the correspondence between the target roadway and the vertical rail, the target vertical rail running in the target roadway is determined from the operating equipment.

6. The method according to claim 4, wherein, The step of determining the target transfer vehicle located in the auxiliary safety zone from the operating equipment based on the transfer vehicle's operating trajectory includes: The first location information at the corner of the auxiliary safety zone is sent to each of the transfer vehicles in the cargo storage and retrieval system, so that the target transfer vehicle in the auxiliary safety zone can be determined by the transfer vehicle based on its own running trajectory.

7. The method according to claim 2, wherein, Also includes: In response to the completion of the maintenance task of the device to be maintained, the target device in the auxiliary safety zone is controlled to operate in the preset operating mode until the preset operating mode termination signal generated by the signal triggering device is received.

8. The method according to claim 2, wherein, The operating equipment includes a transfer vehicle and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle and the loading platform exchange goods. The method includes: Based on the operating trajectory of the transfer vehicle, the target transfer vehicle located in the main safety area is determined from the operating equipment; The target cargo platform located in the main safety area is determined from the target cargo platforms located in the secondary safety area.

9. The method according to claim 8, wherein, The operating equipment also includes a vertical rail located outside the shelf and capable of running horizontally along the shelf, and the loading platform is located on the vertical rail and can run vertically along the vertical rail; as well as The method further includes: The target rail located in the main safety zone is determined from the target rails located in the secondary safety zone.

10. The method according to claim 9, wherein, The step of determining the target transfer vehicle located in the main safety zone from the operating equipment based on the transfer vehicle's operating trajectory includes: The second location information of the corner of the main safety zone is sent to each of the transfer vehicles, so that the target transfer vehicle in the main safety zone can be determined by the transfer vehicle according to its own running trajectory.

11. The method according to claim 1, wherein, The secondary safety zone for each roadway is pre-generated in the following manner: Based on the described roadway, determine the initial auxiliary safety zone; The initial secondary safety region is expanded to obtain the secondary safety region.

12. The method according to any one of claims 1-11, wherein, Before controlling the target device in the secondary safety zone to operate according to a preset operating mode, the method further includes: Based on the maintenance type corresponding to the equipment to be maintained, the preset operating mode is determined from the set of operating modes.

13. An operation control device for a goods storage and retrieval system, the goods storage and retrieval system including shelves and operating equipment for storing, retrieving, and transferring goods on the shelves, wherein a signal triggering device for triggering equipment maintenance signals is provided corresponding to the aisles between adjacent shelves, the method comprising: The area determination unit is configured to, in response to receiving an equipment maintenance signal generated by the signal triggering device, determine an auxiliary safety zone for maintaining the equipment to be maintained based on the target roadway corresponding to the signal triggering device. The operation control unit is configured to control the target device in the auxiliary safety zone of the operation equipment to operate according to a preset operation mode, wherein the operating efficiency of the target device in the preset operation mode is lower than the operating efficiency of the target device in the non-auxiliary safety zone.

14. A computer-readable medium having a computer program stored thereon, wherein, When the program is executed by the processor, it implements the method as described in any one of claims 1-12.

15. An electronic device comprising: One or more processors; Storage device, on which one or more programs are stored, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-12.

16. A computer program product comprising: A computer program that, when executed by a processor, implements the method according to any one of claims 1-12.

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