A system and method for controlling the operation of a storage and retrieval machine in a warehouse

Abstract

The application provides a kind of stacker warehouse position operation control system and method, and stacker execution control module receives the warehouse position operation task sent by warehouse control module, stores and manages warehouse position state information, before executing warehouse position operation task, according to the type of warehouse position operation task and warehouse position state information, whether the associated warehouse position in the warehouse position operation task meets the task execution condition is detected, the detection result is obtained, when the detection result is not satisfied, first abnormal feedback information is generated and sent to warehouse control module, when the detection result is satisfied, control stacker to execute warehouse position operation task. Reduce the probability of stacker task execution problem, reduce the probability of human into the lane, increase the safety factor of human body, the accuracy of abnormal feedback auxiliary system management goods location, improve the efficiency of warehouse position operation.

Description

Technical Field

[0001] This invention relates to the field of stacker crane and warehouse location management operation technology, and in particular to a stacker crane warehouse location operation control system and method. Background Technology

[0002] In automated storage and retrieval systems (AS / RS), stacker cranes are the core storage and retrieval equipment. Traditional stacker cranes rely primarily on photoelectric sensors mounted on the forks to determine whether there are goods in the storage location when performing retrieval and placement tasks. This method uses photoelectric sensors to physically detect the storage location, identify the location status (goods present / absent), and control the extension and retraction of the forks accordingly to complete the retrieval or placement operation.

[0003] In existing technology, when a stacker crane receives a pick-up or drop-off task from a warehouse control system (WCS), its operational logic is as follows: When performing a pick-up task, after the stacker crane moves to the pick-up location, it first uses photoelectric sensors to detect whether the location is stocked. If the photoelectric signal indicates no stock, the forks extend to perform the pick-up action, at which point there should be no goods on the loading platform. When performing a drop-off task, after the stacker crane arrives at the location, the photoelectric sensors similarly confirm that the location is empty, and then the forks extend to place the goods into the location. The entire process mainly relies on the real-time detection results of the photoelectric sensors as the basis for judgment.

[0004] However, this traditional method has significant safety hazards and management deficiencies. Relying solely on a single detection method—the photoelectric sensor—is prone to misjudging storage location status due to sensor malfunctions, blockages, or external interference. For example, if the sensor incorrectly identifies a location as empty when the stacker crane is already carrying goods, it could lead to duplicate loading, causing collisions or equipment damage. Conversely, if a location is incorrectly identified as empty, retrieval will fail. Such anomalies often require manual intervention; operators must enter the aisles to conduct on-site checks and manually adjust the goods' positions. This not only severely impacts system efficiency but also significantly increases the safety risks for personnel working within the stacker crane's operating area, failing to meet the high safety and minimally manned operation requirements of modern intelligent warehousing. Summary of the Invention

[0005] Based on the above, the present invention provides a stacker crane warehouse operation control system and method, which aims to solve the technical problems of existing single photoelectric sensor detection methods, such as the need for safety optimization and the need to improve work efficiency.

[0006] A stacker crane storage location operation control system includes a warehouse control module and a stacking execution control module. The warehouse control module generates storage location operation tasks and sends them to the stacking execution control module. The stacking execution control module includes: The task receiving unit is used to receive storage location operation tasks; Information storage unit, used to store and manage storage location status information; The storage location detection unit is connected to the task receiving unit and the information storage unit respectively. It is used to detect whether the associated storage locations in the storage location operation task meet the task execution conditions according to the type of storage location operation task and the storage location status information before executing the storage location operation task, and obtain the detection result. The first feedback unit, connected to the storage location detection unit, is used to generate first abnormal feedback information and send it to the warehouse control module when the detection result indicates that the associated storage location of the storage location operation task does not meet the task execution conditions. The task execution unit, connected to the storage location detection unit, is used to control the stacker crane to execute the storage location operation task when the detection result indicates that the associated storage location of the storage location operation task meets the task execution conditions.

[0007] Furthermore, the stacking execution control module also includes: The photoelectric detection unit, connected to the task execution unit, is used to move to the location point corresponding to the associated storage location during the stacker crane's storage location operation task. Before performing cargo operations on the associated storage location, it directly detects the cargo status of the associated storage location to obtain the cargo status detection result. The second feedback unit, connected to the photoelectric detection unit, is used to generate a second abnormal feedback information when the cargo status detection result indicates that the cargo operation conditions are not met. The task execution unit is used to perform cargo operations on the associated storage location when the cargo status detection result shows that the cargo operation conditions are met.

[0008] Furthermore, the stacking execution control module also includes: The third feedback unit, connected to the task execution unit, is used to generate task completion feedback information after the storage location operation task is completed and send it to the warehouse control module. The stacking execution control module also includes: The information update unit is connected to the information storage unit and the task execution unit respectively, and is used to update the storage location status information after the storage location operation task is completed.

[0009] Furthermore, the warehouse control module is also used to generate an abnormal alarm and delete the storage location operation task when it receives either the first abnormal feedback information or the second abnormal feedback information.

[0010] Furthermore, the warehouse location status information includes inventory status indicators and vehicle number record indicators; The type of storage location operation task is an inbound operation task. The inbound operation task sent by the warehouse control module includes the assigned inbound storage location and the first vehicle number. The storage location detection unit is used to: before executing the storage operation task, detect whether the storage location meets the storage execution conditions based on the first vehicle number, storage location and storage location status information assigned by the storage operation task, and obtain the first detection result; The first feedback unit is used to generate first abnormal feedback information when the first detection result is that the storage location does not meet the storage execution conditions; The task execution unit is used to control the stacker crane to perform the warehousing operation task when the first detection result meets the warehousing execution conditions; The information update unit is used to: after the warehousing operation task is completed, update the inventory status flag in the warehousing location status information corresponding to the warehousing location to the in-stock status flag, and update the vehicle number record flag in the warehousing location status information corresponding to the warehousing location to the first vehicle number.

[0011] Furthermore, the type of storage location operation task is outbound operation task, and the outbound operation task sent by the warehouse control module includes the allocated outbound storage location and the second vehicle number. The storage location detection unit is used to: before executing the outbound operation task, detect whether the outbound storage location meets the outbound execution conditions based on the second vehicle number, outbound storage location and storage location status information in the outbound operation task, and obtain the second detection result; The first feedback unit is used to generate first abnormal feedback information when the second detection result is that the outbound storage location does not meet the outbound execution conditions; The task execution unit is used to control the stacker crane to execute the outbound operation task when the second detection result indicates that the outbound storage location meets the outbound execution conditions; The information update unit is used to: after the outbound operation task is completed, update the inventory status flag in the storage location status information corresponding to the outbound storage location to the out-of-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the outbound storage location to the no-vehicle-number flag.

[0012] Furthermore, the type of storage location operation task is a storage transfer operation task. The storage transfer operation task sent by the warehouse control module includes the allocated source storage location, the third vehicle number corresponding to the source storage location, and the target storage location. The warehouse location detection unit is used to detect whether the source warehouse location meets the picking execution conditions and whether the target warehouse location meets the releasing execution conditions before executing the warehouse transfer operation task, based on the third vehicle number, source warehouse location, target warehouse location and warehouse location status information in the warehouse transfer operation task, and to obtain the third detection result. The first feedback unit is used to generate the first abnormal feedback information of abnormal transfer conditions when the third detection result is that the source storage location does not meet the picking execution conditions or the target storage location does not meet the releasing execution conditions. The task execution unit is used to control the stacker crane to perform the warehouse transfer operation when the third detection result shows that the source warehouse location meets the picking execution conditions and the target warehouse location meets the releasing execution conditions. The information update unit is used after the data transfer task is completed: Update the inventory status flag in the storage location status information corresponding to the source storage location to the out-of-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the source storage location to the no-vehicle-number flag. Update the inventory status flag in the location status information corresponding to the target location to the "in stock" status flag, and update the vehicle number record flag in the location status information corresponding to the target location to the third vehicle number.

[0013] A stacker crane storage location operation control method, using the aforementioned stacker crane storage location operation control system, includes: Step A1: The warehouse control module generates a storage location operation task and sends it to the stacking execution control module. Step A2: The stacking execution control module receives the storage location operation task; Step A3: Before executing the storage location operation task, the stacking execution control module checks whether the associated storage locations in the storage location operation task meet the task execution conditions based on the type of storage location operation task and the storage location status information. If not, proceed to step A4; If so, proceed to step A5; Step A4: Generate the first exception feedback information and send it to the warehouse control module; Step A5: The stacking execution control module controls the stacker crane to perform storage location operations.

[0014] Furthermore, the stacking execution control module also includes a photoelectric detection unit; step A5 also includes: Step A51: During the stacker crane's storage location operation, it moves to the location corresponding to the associated storage location. Before performing cargo operations on the associated storage location, the photoelectric detection unit directly detects the cargo status of the associated storage location to obtain the cargo status detection result. Step A52: Determine whether the current associated storage location meets the cargo operation conditions based on the cargo status detection results. If not, proceed to step A53; If so, proceed to step A54; Step A53: Generate a second exception feedback message to the warehouse control module; Step A54: Perform cargo operations on the associated storage location; After step A4 and after step A53, the following also includes: In step A6, when the warehouse control module receives either the first abnormal feedback information or the second abnormal feedback information, it generates an abnormal alarm information and deletes the storage location operation task.

[0015] Furthermore, step A5 includes the following: Step A7: After the storage location operation task is completed, task completion feedback information is generated and sent to the warehouse control module and the stacking execution control module to update the storage location status information.

[0016] The beneficial technical effects of this invention are as follows: After the storage location operation task is issued, the stacking execution control module that controls the execution of the storage location operation task performs a storage location check in advance based on the information contained in the task to see if the task execution conditions are met. This reduces the probability of storage location problems when the stacker crane executes the task, reduces the chance of people entering the aisle, increases the personal safety factor, and the abnormal feedback assists the WCS storage location system in managing the accuracy of the storage location and improves the efficiency of storage location operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a stacker crane warehouse operation control system according to the present invention; Figures 2-3 This is a flowchart illustrating the steps of a stacker crane warehouse operation control method according to the present invention. Detailed Implementation

[0018] 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.

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0021] See Figure 1 This invention provides a stacker crane warehouse operation control system, including a warehouse control module 1 and a stacking execution control module 2. The warehouse control module 1 generates warehouse operation tasks and sends them to the stacking execution control module 2. The stacking execution control module 2 includes: Task receiving unit 21 is used to receive storage location operation tasks; Information storage unit 22 is used to store and manage storage location status information; The storage location detection unit 23 is connected to the task receiving unit 21 and the information storage unit 22 respectively. It is used to detect whether the associated storage locations in the storage location operation task meet the task execution conditions according to the type of storage location operation task and the storage location status information before executing the storage location operation task, and obtain the detection result. The first feedback unit 24 is connected to the storage location detection unit 23 and is used to generate first abnormal feedback information and send it to the warehouse control module when the detection result is that the associated storage location of the storage location operation task does not meet the task execution conditions. The task execution unit 25 is connected to the storage location detection unit 23 and is used to control the stacker crane to execute the storage location operation task when the detection result shows that the associated storage location of the storage location operation task meets the task execution conditions.

[0022] Specifically, warehouse control module 1 is a WCS (Warehouse Control System).

[0023] Specifically, the stacking execution control module 2 is based on a PLC (Programmable Logic Controller). The PLC controller maintains and manages the storage location status information of each storage location. When the WCS control system issues a storage location operation task, it monitors the storage location status information of the associated storage locations and performs a task executability check before execution. If the check shows that the task cannot be executed, a first abnormal feedback message is generated. The task will only continue to be executed if the check shows that it can be executed.

[0024] The execution conditions for a task are related to the type of storage location operation task, and the execution conditions for each type of storage location operation task are different.

[0025] For example, when the type of storage location operation task is an inbound operation task, the task execution condition is: the associated storage location used as the inbound storage location is detected to be out of stock. This facilitates the placement of goods to the inbound storage location.

[0026] For example, when the type of warehouse location operation task is an outbound operation task, the task execution condition is: goods are detected in the associated warehouse location that is the outbound warehouse location. This facilitates retrieving goods from the outbound warehouse location.

[0027] For example, when the storage location operation task is a transfer operation task, the task execution condition is: the associated storage location (source storage location) is found to have goods, and the associated storage location (target storage location) is found to be out of stock. This facilitates retrieving goods from the source storage location and placing them in the target storage location.

[0028] After a storage location operation task is issued, the stacking execution control module that controls the execution of the storage location operation task performs a storage location check based on the information contained in the task before executing the task to see if the task execution conditions are met. This reduces the probability of the stacker crane being unable to execute the task due to storage location problems, reduces the chance of human entering the aisle, increases the personal safety factor, and provides anomaly feedback to assist the WCS storage location system in managing the accuracy of the storage location and improves the efficiency of storing and retrieving goods.

[0029] Furthermore, the stacking execution control module 2 also includes: The photoelectric detection unit 26 is connected to the task execution unit 25 and is used to move to the location point corresponding to the associated storage location during the stacker crane's storage location operation task. Before performing cargo operation on the associated storage location, it directly detects the cargo status of the associated storage location to obtain the cargo status detection result. The second feedback unit 27 is connected to the photoelectric detection unit 26 and is used to generate a second abnormal feedback information when the cargo status detection result is that the cargo operation conditions are not met. The task execution unit 25 is used to perform cargo operations on the associated storage location when the cargo status detection result shows that the cargo operation conditions are met.

[0030] By conducting a double inspection mechanism—including pre-task location checks and photoelectric detection of the location before cargo handling—the probability of problems is reduced, the chance of human intervention in the aisles is decreased, and personal safety is increased.

[0031] When the stacker crane performs a pickup operation on the current associated storage location, the cargo operation condition is: the cargo status detection result of the photoelectric detection unit 26 indicates that there is cargo in the current associated storage location, which means that the pickup operation condition is met.

[0032] When the stacker crane performs a delivery operation on the current associated storage location, the delivery operation condition is: the delivery status detection result of the photoelectric detection unit 26 indicates that the current associated storage location is empty, which means that the delivery operation condition is met.

[0033] Furthermore, the stacking execution control module 2 also includes: The third feedback unit 28 is connected to the task execution unit 25 and is used to generate task completion feedback information after the warehouse operation task is completed and send it to the warehouse control module. Stacking execution control module 2 also includes: The information update unit 29 is connected to the information storage unit 22 and the task execution unit 25 respectively, and is used to update the storage location status information after the storage location operation task is completed.

[0034] The stacking execution control module 2 updates the storage location status information in real time after the task is executed, so that the storage location status information is consistent with the actual storage location situation, reducing the probability of subsequent warehouse control module 1 erroneously scheduling tasks, such as incorrectly scheduling storage locations.

[0035] Furthermore, the warehouse control module 1 is also used to generate an abnormal alarm message and delete the storage location operation task when it receives one of the first abnormal feedback information or the second abnormal feedback information.

[0036] The problem can be solved simply by deleting the task itself from the warehouse control module 1, clearing the variables that interact with the stacking execution control module 2, resetting the stacker crane, and then issuing a new task. This reduces the chance of people entering the aisle and increases personal safety.

[0037] Furthermore, the warehouse location status information includes inventory status indicators and vehicle number record indicators; The type of storage location operation task is an inbound operation task. The inbound operation task sent by warehouse control module 1 includes the allocated inbound storage location and the first vehicle number. The storage location detection unit 23 is used to: before executing the storage operation task, detect whether the storage location meets the storage execution conditions based on the first vehicle number, storage location and storage location status information assigned by the storage operation task, and obtain the first detection result; The first feedback unit 24 is used to generate first abnormal feedback information when the first detection result is that the storage location does not meet the storage execution conditions; The task execution unit 25 is used to control the stacker crane to perform the warehousing operation task when the first detection result meets the warehousing execution conditions; The information update unit 29 is used to: update the inventory status flag in the storage location status information corresponding to the storage location to the in-stock status flag after the storage operation task is completed, and update the vehicle number record flag in the storage location status information corresponding to the storage location to the first vehicle number.

[0038] The task of warehousing operations is to store goods in the corresponding warehousing locations.

[0039] The vehicle number is a number assigned to the vehicle that carries the goods and places them in the storage location.

[0040] Specifically, the vehicle number refers to the mother pallet number, that is, the vehicle is a pallet, and the pallet's number is the mother pallet number.

[0041] The conditions for inbound execution are: The inventory status flag in the location status information corresponding to the assigned inbound storage location is set to "out of stock," and... The vehicle number record in the location status information corresponding to the assigned storage location is marked as "no vehicle number"; and There is no storage location in the entire storage location status information that matches the first storage location with the record of the vehicle number.

[0042] When the inventory status flag in the location status information corresponding to the assigned inbound location is out of stock (e.g., 0) and the vehicle number record flag is out of stock (e.g., 0), it indicates that the current inbound location is out of stock and the inbound operation can be performed.

[0043] When the inventory status flag in the location status information corresponding to the assigned inbound location is a "goods available" flag (e.g., 1), or the vehicle number record flag is a "vehicle number available" flag (e.g., the actual vehicle number), it indicates that the inbound location has goods and inbound operations cannot be performed, generating the first abnormal feedback information of inbound condition anomaly.

[0044] When it is detected that the storage location status information shows that the storage location whose vehicle number record is matched with the first vehicle number is not the assigned storage location, it also indicates that there is an abnormal storage condition.

[0045] When performing an inbound task, the stacker crane's stacking execution control module 2 automatically checks the storage location information associated with the inbound task before controlling the stacker crane to execute the inbound task, based on the inbound operation task instruction issued by the warehouse control module 1.

[0046] After the goods are dispatched, the stacking execution control module 2 updates the storage location status information through the information update unit 29. The inventory status flag of the storage location is updated to an "out of stock" flag (e.g., 0 represents an out-of-stock status), and the vehicle number record flag of the dispatched storage location is changed to a "no vehicle number" flag (e.g., 0). If both the "no vehicle number" flag and the "out of stock" status flag are present, it indicates that the storage location has no goods, meeting the inbound execution conditions, and the inbound operation task can be executed. If the vehicle number record flag is not "no vehicle number" (meaning a vehicle number exists), or the inventory status flag is "in stock," it indicates that the storage location already has goods, failing to meet the inbound execution conditions. In this case, the inbound operation task is temporarily suspended. The first feedback unit sends the first abnormal feedback information (that the storage location has goods) to the warehouse control module 1. The warehouse control module 1 can delete the inbound operation task and reissue it after the problem is checked and resolved.

[0047] In addition, if the storage location matched with the first vehicle number is not the assigned storage location, it means that the goods may have already been stored in other storage locations. This will also generate the first abnormal feedback information to the warehouse control module 1 to avoid duplicate storage and ensure the uniqueness of the vehicle number.

[0048] After the storage location detection unit 23 checks that the inbound execution conditions are met, the stacker crane executes the inbound operation task. The stacker crane moves to the storage location and uses the photoelectric detection unit to check if there is any goods in the corresponding storage location. If there are no goods, the release operation conditions are met, and the stacker crane executes the release operation, placing the goods to be stored into the storage location. If the photoelectric detection unit detects an abnormality, such as goods being present, the storage location does not meet the release operation conditions. In this case, the second feedback unit 27 generates a second abnormal feedback information indicating that goods are present in the storage location, and sends this information to the warehouse control module. The warehouse control module deletes the inbound operation task based on the second abnormal feedback information, and reissues the inbound operation task after the problem is checked and resolved.

[0049] Furthermore, the type of storage location operation task is outbound operation task, and the outbound operation task sent by the warehouse control module includes the allocated outbound storage location and the second vehicle number. Storage location detection unit 23 is used to: before executing the outbound operation task, detect whether the outbound storage location meets the outbound execution conditions based on the second vehicle number, outbound storage location and storage location status information in the outbound operation task, and obtain the second detection result; The first feedback unit 24 is used to generate first abnormal feedback information of abnormal outbound conditions when the second detection result is that the outbound storage location does not meet the outbound execution conditions. The task execution unit 25 is used to control the stacker crane to execute the outbound operation task when the second detection result shows that the outbound storage location meets the outbound execution conditions; The information update unit 29 is used to: after the outbound operation task is completed, update the inventory status flag in the storage location status information corresponding to the outbound storage location to the out-of-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the outbound storage location to the no-vehicle-number flag.

[0050] Outbound operations are the process of retrieving goods from the corresponding outbound storage location.

[0051] The conditions for executing the outbound shipment are: The inventory status flag in the location status information corresponding to the assigned outbound location is an "in stock" flag, and The vehicle number record in the storage location status information corresponding to the allocated outbound storage location is marked as the second vehicle number.

[0052] When the inventory status flag in the location status information corresponding to the assigned outbound location is "in stock" (e.g., 1) and the vehicle number record flag is "second vehicle number," it indicates that the current outbound location has stock and outbound operations can be performed.

[0053] When the inventory status flag in the location status information corresponding to the assigned outbound location is out of stock (e.g., 0), or the vehicle number record flag is missing (e.g., 0), it indicates that the outbound location is out of stock. Since there is no stock, goods cannot be retrieved and outbound operations cannot be carried out, generating the first abnormal feedback information of outbound condition anomaly.

[0054] When it is detected that there is a storage location that matches the second vehicle number but is not an assigned outbound storage location, a first abnormal feedback message indicating an abnormal outbound condition is generated.

[0055] During an outbound task, the stacker crane's stacking execution control module 2, based on the outbound operation task instruction issued by the warehouse control module 1, automatically checks the storage location information associated with the inbound operation task before controlling the stacker crane to execute the outbound operation task. After inbound, the stacker execution control module 2's information update unit 29 updates the storage location status information, updating the storage location's inventory status flag to an "available" status flag (e.g., using 1 to represent an "available" status flag), and changing the storage location's vehicle number record flag to the inbound vehicle number. If the assigned outbound storage location's status information is detected as an "available" status flag and the vehicle number record flag is the second vehicle number, it indicates that the outbound storage location has goods, meeting the execution conditions. If the vehicle number record flag is "no vehicle number" or the inventory status flag is "out of stock", it means that the outbound storage location is out of stock and the outbound execution conditions are not met. At this time, the outbound operation task will not be executed. The first feedback unit will send the first abnormal feedback information of "out of stock" to the warehouse control module 1. The warehouse control module 1 can delete the outbound operation task and reissue the outbound operation task after the problem is checked and eliminated.

[0056] Furthermore, if the storage location matched by the second vehicle number is not the assigned outbound storage location, it indicates that the goods may have already been stored in other storage locations. This generates the first abnormal feedback information of incorrect goods storage to the warehouse control module 1, preventing the stacker crane from traveling in the wrong direction and reducing the possibility of further confusion in storage location information.

[0057] After the storage location detection unit 23 checks that the outbound execution conditions are met, the stacker crane executes the outbound operation. The stacker crane moves to the outbound storage location and uses the photoelectric detection unit to check if there is any stock in the corresponding storage location. If there is stock and the retrieval operation conditions are met, the stacker crane executes the retrieval operation and retrieves the goods from the outbound storage location. If the photoelectric detection unit detects an abnormality, such as no stock, the outbound storage location does not meet the retrieval operation conditions, and the second feedback unit 27 generates a second abnormal feedback message indicating that the outbound storage location is out of stock. The second abnormal feedback message is fed back to the warehouse control module 1, which deletes the outbound operation task based on the second abnormal feedback message. After the problem is checked and resolved, the outbound operation task is reissued.

[0058] Furthermore, the type of storage location operation task is a storage transfer operation task. The storage transfer operation task sent by the warehouse control module includes the allocated source storage location, the third vehicle number corresponding to the source storage location, and the target storage location. The storage location detection unit 23 is used to detect whether the source storage location meets the picking execution conditions and whether the target storage location meets the releasing execution conditions before executing the storage transfer operation task, based on the third vehicle number, source storage location, target storage location and storage location status information in the storage transfer operation task, and to obtain the third detection result. The first feedback unit 24 is used to generate first abnormal feedback information of abnormal transfer conditions when the third detection result is that the source storage location does not meet the picking execution conditions or the target storage location does not meet the releasing execution conditions. The task execution unit 25 is used to control the stacker crane to perform the warehouse transfer operation when the third detection result shows that the source warehouse location meets the picking execution conditions and the target warehouse location meets the releasing execution conditions. Information update unit 29 is used after the data transfer task is completed: Update the inventory status flag in the storage location status information corresponding to the source storage location to the out-of-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the source storage location to the no-vehicle-number flag. Update the inventory status flag in the location status information corresponding to the target location to the "in stock" status flag, and update the vehicle number record flag in the location status information corresponding to the target location to the third vehicle number.

[0059] The task of warehouse transfer is to retrieve goods from the source warehouse and place them into the target warehouse.

[0060] In a warehouse transfer operation, the conditions for retrieving goods from the source warehouse location are as follows: The inventory status flag in the storage location status information corresponding to the source storage location is an "in stock" flag, and The vehicle number record in the storage location status information corresponding to the source storage location is marked as the third vehicle number.

[0061] In a warehouse transfer operation, the conditions for releasing goods to the target warehouse location are as follows: The inventory status flag in the location status information corresponding to the target location is set to "out of stock," and The vehicle number record in the storage location status information corresponding to the target storage location is marked as "no vehicle number".

[0062] When the inventory status flag in the storage location status information corresponding to the source storage location is the "in stock" flag, and the vehicle number record flag in the storage location status information corresponding to the source storage location is the third vehicle number, it means that the source storage location currently has goods and a retrieval operation can be performed.

[0063] When the inventory status flag in the location status information corresponding to the target location is set to "out of stock," and the vehicle number record flag in the location status information corresponding to the target location is set to "no vehicle number," it indicates that the target location is currently out of stock and a release operation can be performed.

[0064] If the source location does not meet the conditions for picking, or the target location does not meet the conditions for releasing, the transfer operation will not be executed for the time being, and the first feedback unit will generate the first abnormal feedback information to the warehouse control module 1.

[0065] After the storage location detection unit 22 checks that the conditions for transferring the goods are met, the stacker crane executes the transfer operation. The stacker crane moves to the source storage location and uses the photoelectric detection unit to check if there is any stock in the corresponding source storage location. If there is stock and the conditions for retrieving the goods are met, the stacker crane executes the retrieval operation and retrieves the goods from the source storage location. If the photoelectric detection unit detects an anomaly, such as no stock in the source storage location, then the source storage location does not meet the conditions for retrieving the goods. In this case, the second feedback unit generates a second anomaly feedback message indicating that the source storage location is out of stock, and sends this message to the warehouse control module 1. The warehouse control module 1 deletes the transfer operation task based on the second anomaly feedback message, and reissues the transfer operation task after the problem is checked and resolved.

[0066] After the stacker crane retrieves goods from the source location and moves to the target location, it uses a photoelectric detection unit to check if the target location has any stock. If there is no stock, the conditions for placing the goods are met, and the stacker crane performs the placement operation, putting the goods into the target location. If the photoelectric detection unit detects an anomaly, such as stock in the target location, the conditions for placing the goods are not met. In this case, the second feedback unit generates a second anomaly feedback message indicating that the target location has stock, which is sent to the warehouse control module. The warehouse control module then deletes the transfer operation task based on the second anomaly feedback message. After the problem is investigated and resolved, the transfer operation task is reissued.

[0067] After each inbound, outbound, and transfer operation, the information update unit 26 updates the storage location status information. Before the storage location operation task is executed, the PLC controller checks whether the execution conditions are met. During the execution of the storage location operation task, the photoelectric detection unit checks whether there are any abnormalities in the moved storage location. This dual-check mechanism reduces the probability of problems, reduces the chance of people entering the aisle, and increases the personal safety factor.

[0068] See Figure 2 The present invention also provides a stacker crane storage location operation control method, using the aforementioned stacker crane storage location operation control system, comprising: Step A1: The warehouse control module generates a storage location operation task and sends it to the stacking execution control module. Step A2: The stacking execution control module receives the storage location operation task; Step A3: Before executing the storage location operation task, the stacking execution control module checks whether the associated storage locations in the storage location operation task meet the task execution conditions based on the type of storage location operation task and the storage location status information. If not, proceed to step A4; If so, proceed to step A5; Step A4: Generate the first exception feedback information and send it to the warehouse control module; Step A5: The stacking execution control module controls the stacker crane to perform storage location operations.

[0069] See Figure 3 Furthermore, the stacking execution control module also includes a photoelectric detection unit; step A5 also includes: Step A51: During the stacker crane's storage location operation, it moves to the location corresponding to the associated storage location. Before performing cargo operations on the associated storage location, the photoelectric detection unit directly detects the cargo status of the associated storage location to obtain the cargo status detection result. Step A52: Determine whether the current associated storage location meets the cargo operation conditions based on the cargo status detection results. If not, proceed to step A53; If so, proceed to step A54; Step A53: Generate a second exception feedback message to the warehouse control module; Step A54: Perform cargo operations on the associated storage location; After step A4 and after step A53, the following also includes: In step A6, when the warehouse control module receives either the first abnormal feedback information or the second abnormal feedback information, it generates an abnormal alarm information and deletes the storage location operation task.

[0070] Furthermore, step A5 includes the following: Step A7: After the storage location operation task is completed, task completion feedback information is generated and sent to the warehouse control module and the stacking execution control module to update the storage location status information.

[0071] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A stacker crane warehouse location operation control system, characterized in that, It includes a warehouse control module and a stacking execution control module. The warehouse control module generates storage location operation tasks and sends them to the stacking execution control module. The stacking execution control module includes: A task receiving unit is used to receive the storage location operation task; Information storage unit, used to store and manage storage location status information; The storage location detection unit is connected to the task receiving unit and the information storage unit respectively. It is used to detect whether the associated storage locations in the storage location operation task meet the task execution conditions according to the type of the storage location operation task and the storage location status information before executing the storage location operation task, and obtain the detection result. The first feedback unit, connected to the storage location detection unit, is used to generate first abnormal feedback information and send it to the warehouse control module when the detection result indicates that the associated storage location of the storage location operation task does not meet the task execution conditions. The task execution unit is connected to the storage location detection unit and is used to control the stacker crane to execute the storage location operation task when the detection result indicates that the associated storage location of the storage location operation task meets the task execution conditions.

2. The stacker crane warehouse operation control system as described in claim 1, characterized in that, The stacking execution control module also includes: The photoelectric detection unit, connected to the task execution unit, is used to move to the location point corresponding to the associated storage location during the process of the stacker crane performing the storage location operation task, and directly detect the status of the goods in the associated storage location to obtain the goods status detection result before performing goods operation on the associated storage location; The second feedback unit, connected to the photoelectric detection unit, is used to generate a second abnormal feedback information when the cargo status detection result indicates that the cargo operation conditions are not met. The task execution unit is used to perform cargo operations on the associated storage location when the cargo status detection result indicates that the cargo operation conditions are met.

3. The stacker crane warehouse operation control system as described in claim 1, characterized in that, The stacking execution control module also includes: The third feedback unit, connected to the task execution unit, is used to generate task completion feedback information after the storage location operation task is completed and send it to the warehouse control module. The stacking execution control module also includes: The information update unit is connected to the information storage unit and the task execution unit respectively, and is used to update the storage location status information after the storage location operation task is completed.

4. A stacker crane warehouse operation control system as described in claim 2, characterized in that, The warehouse control module is also used to generate an abnormal alarm and delete the warehouse location operation task when it receives one of the first abnormal feedback information or the second abnormal feedback information.

5. A stacker crane warehouse operation control system as described in claim 3, characterized in that, The warehouse location status information includes inventory status flags and vehicle number record flags; The type of the storage location operation task is an inbound operation task, and the inbound operation task sent by the warehouse control module includes the allocated inbound storage location and the first vehicle number. The storage location detection unit is used to: before executing the storage operation task, detect whether the storage location meets the storage execution conditions based on the first vehicle number assigned by the storage operation task, the storage location, and the storage location status information, and obtain a first detection result; The first feedback unit is used to generate a first abnormal feedback message indicating an abnormal entry condition when the first detection result indicates that the entry location does not meet the entry execution conditions. The task execution unit is used to control the stacker crane to execute the warehousing operation task when the first detection result meets the warehousing execution conditions; The information update unit is used to: update the inventory status flag in the storage location status information corresponding to the storage location to the in-stock status flag after the storage operation task is completed, and update the vehicle number record flag in the storage location status information corresponding to the storage location to the first vehicle number.

6. A stacker crane warehouse operation control system as described in claim 5, characterized in that, The type of the storage location operation task is an outbound operation task, and the outbound operation task sent by the warehouse control module includes the allocated outbound storage location and the second vehicle number. The storage location detection unit is used to: before executing the outbound operation task, detect whether the outbound storage location meets the outbound execution conditions based on the second vehicle number, the outbound storage location, and the storage location status information in the outbound operation task, and obtain a second detection result; The first feedback unit is used to generate a first abnormal feedback information when the second detection result indicates that the outbound storage location does not meet the outbound execution conditions; The task execution unit is used to control the stacker crane to execute the outbound operation task when the second detection result indicates that the outbound storage location meets the outbound execution conditions; The information update unit is used to: after the outbound operation task is completed, update the inventory status flag in the storage location status information corresponding to the outbound storage location to the out-of-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the outbound storage location to the no-vehicle-number flag.

7. A stacker crane warehouse operation control system as described in claim 5, characterized in that, The type of the storage location operation task is a storage transfer operation task. The storage transfer operation task sent by the warehouse control module includes the allocated source storage location, the third vehicle number corresponding to the source storage location, and the target storage location. The warehouse location detection unit is used to detect whether the source warehouse location meets the picking execution conditions and whether the target warehouse location meets the releasing execution conditions before executing the warehouse transfer operation task, based on the third vehicle number, the source warehouse location, the target warehouse location and the warehouse location status information in the warehouse transfer operation task, and to obtain a third detection result. The first feedback unit is used to generate a first abnormal feedback information of abnormal transfer conditions when the third detection result is that the source warehouse location does not meet the picking execution conditions or the target warehouse location does not meet the releasing execution conditions; The task execution unit is used to control the stacker crane to execute the warehouse transfer operation task when the third detection result shows that the source warehouse location meets the picking execution condition and the target warehouse location meets the releasing execution condition. The information update unit is used after the data transfer task is completed: Update the inventory status flag in the storage location status information corresponding to the source storage location to the out-of-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the source storage location to the no-vehicle-number flag. Update the inventory status flag in the storage location status information corresponding to the target storage location to the in-stock status flag, and update the vehicle number record flag in the storage location status information corresponding to the target storage location to the third vehicle number.

8. A stacker crane storage location operation control method, characterized in that, A stacker crane storage location operation control system as described in any one of claims 1-7 includes: Step A1: The warehouse control module generates a storage location operation task and sends it to the stacking execution control module; Step A2: The stacking execution control module receives the warehouse location operation task; Step A3: Before executing the storage location operation task, the stacking execution control module checks whether the associated storage locations in the storage location operation task meet the task execution conditions based on the type of the storage location operation task and the storage location status information. If not, proceed to step A4; If so, proceed to step A5; Step A4: Generate the first abnormal feedback information and send it to the warehouse control module; Step A5: The stacking execution control module controls the stacker crane to perform the warehouse operation task.

9. A stacker crane storage location operation control method as described in claim 8, characterized in that, The stacking execution control module further includes a photoelectric detection unit; step A5 further includes: Step A51: During the process of the stacker crane performing the storage location operation task, it moves to the location point corresponding to the associated storage location. Before performing cargo operation on the associated storage location, the photoelectric detection unit directly detects the cargo status of the associated storage location to obtain the cargo status detection result. Step A52: Determine whether the current associated storage location meets the cargo operation conditions based on the cargo status detection results. If not, proceed to step A53; If so, proceed to step A54; Step A53: Generate a second abnormal feedback message to the warehouse control module; Step A54: Perform cargo operations on the associated storage location; After step A4 and after step A53, the following is also included: In step A6, when the warehouse control module receives either the first abnormal feedback information or the second abnormal feedback information, it generates an abnormal alarm information and deletes the warehouse location operation task.

10. A stacker crane storage location operation control method as described in claim 8, characterized in that, Following step A5, the following is also included: Step A7: After the storage location operation task is completed, task completion feedback information is generated and sent to the warehouse control module, and the stacking execution control module updates the storage location status information.

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