Multi-floor conveying scheduling method based on multi-storage state and task cooperation

Abstract

The application discloses a multi-floor conveying scheduling method based on multi-storage-state and task cooperation, relates to the technical field of conveying scheduling control, and comprises the following steps: S1, acquiring floor conveying scheduling data, forming a candidate loading combination, and determining a candidate turnaround floor number; S2, recursively passing through a time stamp twice, determining a first-pass must-receive instruction according to the latest receiving time stamp, and cyclically updating; S3, determining an actual loading combination of the current lower layer; S4, generating a second-pass receiving instruction sequence, comparing an additional carrying energy value with a single new stopping energy value to determine a receiving stage, and updating a subsequent second-pass time stamp; and S5, performing discharging and receiving, updating the twice-passing time stamp according to an actual leaving time stamp, and receiving after returning. The application solves the problem that the multi-storage-state and receiving task are difficult to cooperate in the existing multi-floor conveying, and the problem that the car repeats back and forth, the receiving time is exceeded, and the conveying efficiency is low.

Description

Technical Field

[0001] This invention relates to the field of material handling scheduling and control technology, specifically a multi-floor material handling scheduling method based on multiple storage location statuses and task coordination. Background Technology

[0002] As semiconductor, panel manufacturing, and automated warehousing production lines evolve towards multi-story, high-cycle, and continuous material handling, automated material handling systems are gradually expanding from single-path transport to a control system that coordinates mainframe scheduling, equipment control, and material handling execution. Existing material handling scheduling typically combines product transport paths, transport equipment types, real-time flow rates, and equipment operating status to determine transport paths and task execution sequences, thereby enabling material transfer between different production equipment, floors, and transport units.

[0003] For example, application CN101464680B discloses a product scheduling control method. First, a transport database is established in the host system, defining a transport path table for each product. Based on the transport path table in the host database, product transport instructions are issued. The path selection in the transport instructions is either based entirely on priority or on the F value. Then, by real-time statistical analysis of the system's operating status in the AMHS system, such as uncertainties like faults or significant fluctuations in product flow, the distribution of product flow is automatically adjusted. When the recent average flow of a path exceeds the corresponding K value, the path with the smallest G value is selected as the alternative path, thereby suppressing the generation of bottleneck sections.

[0004] For example, application CN103197614B discloses an automated material handling system and its control method based on PLC control. Building upon the existing AMHS control structure, it replaces the various levels of controllers in the original automated material handling system with a PLC control system. Simultaneously, it integrates a WinCC-developed MES. The scheduling algorithm for the OHT subsystem employs functional classification of the OHT subsystems, limiting the number of OHT subsystems in the Intrabay and Interbay using an upper limit method. Scheduling is performed using a combination of adaptive application and type replacement methods. Each OHT subsystem is categorized into four types, and a round-robin approach is used to determine the type during scheduling to ensure timely response to the tool.

[0005] However, existing technologies primarily optimize conveying path selection, flow balancing, controller configuration, and OHT equipment type scheduling. For multi-story elevator cars with multiple storage positions on upper and lower floors, they rarely consider the turnaround range formed by the feeding task of the fully loaded lower floor's storage box to jointly determine the timing of the first and second passes of the empty upper floor's storage box in the same round trip. Furthermore, they struggle to utilize the stopping time and additional carrying energy generated at different receiving stages to indirectly constrain the loading task of the lower floor. When multiple floors simultaneously have both fully loaded storage box feeding and empty storage box receiving needs, problems such as tasks that could be completed collaboratively in the same round trip being split for execution, extended waiting time for empty storage boxes, and repeated elevator car lifts and lowerings can easily occur.

[0006] Therefore, in order to address the above problems, there is an urgent need to provide a multi-floor transport scheduling method based on multiple storage location statuses and task coordination. Summary of the Invention

[0007] Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a multi-floor material handling scheduling method based on multi-storage location status and task coordination. This method solves the problem that existing multi-floor material handling methods struggle to coordinate multiple storage location statuses and material receiving / delivery tasks, leading to repeated trips of the car, material receiving timeouts, and low material handling efficiency.

[0008] Technical solution To achieve the above objectives, the present invention provides the following technical solution: a multi-floor transport scheduling method based on multi-storage location status and task coordination, comprising: S1, acquiring floor transport scheduling data, forming candidate loading combinations according to the full-loaded box receiving instructions, determining the candidate turnaround floor number based on the floor where the full-loaded box is delivered, and generating an upward floor sequence, a downward floor sequence, and a set of receiving instructions to be judged; S2, recursively calculating the first and second passing timestamps for each floor for each candidate loading combination, determining the receiving instructions for empty boxes with the second passing timestamp later than the latest receiving timestamp as the first passing mandatory receiving instructions, and cyclically updating the two passing timestamps based on the stopping time formed by the first passing mandatory receiving instructions; S3, based on the quantity value of the first passing mandatory receiving instructions... S4. Based on the current number of available storage locations on the upper level, select executable candidate loading combinations and determine the actual loading combination for the lower level this time from the executable candidate loading combinations; S5. Generate a second passing material receiving instruction sequence based on the difference between the current number of available storage locations on the upper level and the number of material receiving instructions required for the first passing. Compare the additional energy value of the first passing with the single new docking energy value. If it is less, adjust to the first passing stage. Otherwise, maintain the second passing stage and recursively advance the second passing timestamp of subsequent floors; S6. Execute the full-load material box discharge and empty material box receiving according to the actual loading combination and receiving stage of the lower level this time. Recursively advance the two passing timestamps of the unexecuted floors and adjust the receiving stage based on the actual departure timestamp of the upper docking floor. After reaching the candidate turnaround floor, change the running direction and complete the return material receiving.

[0009] Beneficial effects

[0010] The present invention has the following beneficial effects: (1) Based on the multi-store status and task coordination of the multi-floor transport scheduling method, the candidate turnaround floor number is determined by the candidate loading combination, and the first and second passing timestamps of each floor are recursively calculated so that the full-load box delivery task and the empty box receiving task can be arranged in the same round trip, reducing the repetitive lifting and transport that originally needed to be executed in several times.

[0011] (2) Based on the multi-level material handling scheduling method of multi-storage status and task coordination, the executable candidate loading combination is selected by the quantity of the first passing material receiving instruction and the current quantity of the upper-level idle storage space. This makes the loading scale of the lower-level full-load box subject to the reverse constraint of the upper-level subsequent material receiving capacity, avoiding the upper-level storage space shortage caused by the expansion of the lower-level loading range, and enabling the upper and lower-level storage spaces to form a collaborative receiving relationship.

[0012] (3) Based on the multi-store status and task coordination of the multi-floor transport scheduling method, the empty material box receiving stage is determined by comparing the additional carrying energy value and the single new stop energy value. The method makes a targeted choice between the extra vertical carrying caused by receiving material in advance and the new stop on the return trip, thereby reducing the energy consumption caused by the empty material box going up with the car unnecessarily and the car starting and stopping extra.

[0013] (4) The multi-floor material handling scheduling method based on multi-storage status and task coordination continuously pushes the stopping time formed by the first and second material receiving to the subsequent floors, and recalculates the two passing timestamps of the unexecuted floors according to the actual departure timestamp of the upward stopping floor during the actual execution process, so that the receiving stage can be dynamically adjusted with the actual material handover progress, reducing the waiting limit of empty material boxes and subsequent scheduling mismatch caused by the planned time deviation. Attached Figure Description

[0014] Figure 1 The flowchart shows a multi-floor transport scheduling method based on multiple storage location statuses and task coordination. Figure 2 A time-lapse air conditioning temperature diagram for multi-storage, multi-floor transport; Figure 3 This is a schematic diagram of loading and receiving scheduling in a double-layer storage area. Detailed Implementation

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

[0016] Please see Figures 1-3 This invention provides a technical solution: a multi-floor transport scheduling method based on multiple storage location states and task coordination, comprising: S1, obtain floor transport scheduling data, form candidate loading combinations according to the full load box receiving instructions, determine the candidate turnaround floor number according to the full load box delivery floor, and generate the up-line floor sequence, down-line floor sequence and the set of receiving instructions to be judged; S2, for each candidate loading combination, recursively calculate the first and second passing timestamps of each floor, determine the empty material box receiving instruction whose second passing timestamp is later than the latest receiving timestamp as the first passing mandatory receiving instruction, and cyclically update the two passing timestamps based on the stopping time formed by the first passing mandatory receiving instruction. S3, based on the quantity of the first required material receiving instruction and the current quantity of available storage spaces in the upper layer, select executable candidate loading combinations, and determine the actual loading combination in the lower layer from the executable candidate loading combinations; S4. Generate a second material receiving instruction sequence based on the difference between the current number of available storage locations on the upper floor and the number of material receiving instructions required for the first pass. Compare the additional energy value for the first pass with the single new docking energy value. If the difference is less, adjust to the first pass stage. Otherwise, maintain the second pass stage and recursively push the second pass timestamp of subsequent floors. S5 executes the full-load material box discharge and empty material box receiving according to the actual loading combination and receiving stage of the lower layer. Based on the actual departure time stamp of the upper-going stopping floor, it re-calculates the two passing time stamps of the unexecuted floors and adjusts the receiving stage. After reaching the candidate turnaround floor, it changes the running direction and completes the return receiving.

[0017] Specifically, the floor transport scheduling data includes the current floor number of the car, the upper storage position number, the upper storage position occupancy status value, the lower storage position number, the lower storage position occupancy status value, the lower full-load box receiving instruction number, the full-load box receiving instruction generation timestamp, the floor number of the full-load box delivery, the floor empty box receiving instruction number, the empty box receiving floor number, the empty box receiving instruction generation timestamp, the floor elevation value, the adjacent floor running time value, the car start-stop time value, the full-load box receiving time value, the full-load box discharging time value, the empty box receiving time value, the unit vertical carrying energy consumption value of the empty box, and the single new stop energy value. The current floor number of the car is obtained by matching the position value output by the absolute encoder installed on the car drive mechanism with the stop position parameter table of each floor. When the car enters the allowable stop position range of the floor and receives the corresponding floor arrival switch valid signal, the current floor number is written, so that the subsequent upward and downward floor sequences have a definite spatial starting point. The upper and lower storage position numbers are assigned values ​​according to the fixed installation position sequence of the storage positions in the car when the equipment is put into operation. The occupancy status value of the upper and lower storage positions is generated according to the photoelectric sensor at the entrance of each storage position, the storage position arrival photoelectric sensor, and the material box clamping arrival signal, respectively. When there is a material box in the storage position that has completed the arrival confirmation, the occupancy status is written; when there is no material box that has completed the arrival confirmation, the idle status is written. Thus, the current number of upper and lower idle storage positions can be directly obtained from the corresponding storage position occupancy status value.

[0018] The lower-level full-load bin receiving instruction number is assigned by the upper-level scheduling platform in the order of instruction generation when a full-load bin loading demand is generated on 1F. The timestamp of the full-load bin receiving instruction generation is taken from the unified clock time when the scheduling platform completes the instruction writing. The full-load bin delivery floor number is taken from the floor number of the production equipment corresponding to the full-load bin. These three data items are linked through the same instruction record, so that each full-load bin can enter the lower-level candidate loading sequence in the order of instruction generation, and the highest delivery floor corresponding to the candidate loading combination can be determined based on the full-load bin delivery floor number. The floor empty bin receiving instruction number is generated by the production equipment on each floor when an empty bin recycling request is generated. The floor number for receiving empty bins is written according to the floor where the production equipment that issued the empty bin recycling request is installed. The timestamp for generating the empty bin receiving instruction is the unified clock time when the recycling request is received and registered by the scheduling platform. By using the floor empty bin receiving instruction number, the floor number for receiving empty bins and the timestamp for generating the empty bin receiving instruction are kept in a one-to-one relationship, providing a time basis for determining the first and second stages of receiving based on the receiving floor location and the duration of the instruction.

[0019] The floor elevation values ​​are read from the floor position parameter table established during the equipment installation and commissioning phase. The zero elevation is set at the 1F stopping center position, and the upward direction of the car's movement is used as the elevation increase direction. The floor elevation values ​​are measured in meters, ensuring that the vertical distance between the candidate turnaround floor and the empty material box receiving floor can be obtained by directly subtracting the two floor elevation values. The adjacent floor running time values ​​are obtained by continuously performing at least 30 adjacent floor lifting tests under rated running speed and no material transfer conditions. The time between the car leaving the previous floor stopping position and entering the next floor stopping position is recorded each time, and the median of the 30 time lengths is written into the floor running parameter table. This reduces the impact of single-drive acceleration / deceleration fluctuations on the recursive results of two passing timestamps. The car start-stop time value is calculated from the time stamp when the car begins to execute the deceleration and stop command, to the time stamp when it reaches the set running speed again after completing the stop. The median value of the time length is taken from no less than 30 stop tests without material handover, which is used to represent the basic delay caused by adding a stop floor to the subsequent elapsed time. The receiving time value of a full-load bin is taken as the starting point of the time stamp when the 1F full-load bin conveyor begins to send the bin to the lower storage location, and the ending point is the time stamp when both the corresponding lower storage location photoelectric sensor and the clamping signal are valid. The discharging time value of a full-load bin is taken as the starting point of the time stamp when the target floor lower storage location begins to send the bin to the floor conveyor, and the ending point is the time stamp when the corresponding lower storage location photoelectric sensor returns to the idle state. The receiving time value of an empty bin is taken as the starting point of the time stamp when the target floor empty bin begins to enter the upper storage location, and the ending point is the time stamp when both the corresponding upper storage location photoelectric sensor and the clamping signal are valid. The handover time of the three types of materials is taken as the median value of the most recent 30 normal handover records, so that the docking time can be accumulated according to the actual handover action and transmitted to the subsequent floors.

[0020] The unit vertical carrying energy consumption of the empty material box is obtained through the car drive circuit energy metering device. Lifting tests are performed in the same operating section with and without an empty material box in the upper storage position, and with a standard empty material box in the upper storage position. The difference in drive energy for the two conditions is divided by the actual vertical travel distance to obtain a single calibration result. The average of at least 20 calibration results is used as the unit vertical carrying energy consumption of the empty material box, ensuring that the additional carrying energy generated by the empty material box traveling with the car from the receiving floor to the candidate turnaround floor and back to the receiving floor can be calculated according to the vertical distance. The single additional stop energy value is obtained by performing continuous pass tests and an additional stop test in the same operating section through the car drive circuit energy metering device. The drive energy value of the additional stop test is subtracted from the drive energy value of the continuous pass test, and the average of the differences from at least 20 tests is written into the operating parameter table to characterize the additional energy consumption generated by an additional deceleration, stop, and re-acceleration.

[0021] By linking the storage space occupancy status, full-load hopper feeding instructions, empty hopper receiving instructions, floor space location, running time, material handover time, and vertical carrying energy consumption to the same scheduling cycle, the first and second passing timestamps can be recursively calculated based on the actual floor distance after the candidate loading combination is determined. Furthermore, the number of available storage spaces on the upper floor is used to limit the number of receiving instructions required for the first passing. The relationship between the additional carrying energy value and the single new stop energy value is used to determine the timing of empty hopper receiving instructions in the unfixed receiving stage. This allows subsequent scheduling to be based on data that can be directly collected, repeatedly calibrated, and updated according to the actual car running status.

[0022] In this implementation plan, by establishing a unified data association foundation for storage location status, receiving instructions, delivery floors, floor elevations, running time, material handover time, and energy consumption, the spatial location, time process, storage location capacity, and energy cost during the floor transport scheduling process can be used in subsequent judgments using consistent data standards. This reduces scheduling deviations caused by scattered data sources, inconsistent time bases, and asynchronous status updates. It also ensures stable data support for the first pass timestamp, the second pass timestamp, the first pass must-receive instruction, the second pass must-receive instruction sequence, and the actual loading combination at the lower level. This improves the accuracy of receiving stage judgments, the coordination of storage location configuration, and the reproducibility of scheduling results during multi-floor round-trip transport.

[0023] Specifically, the steps for forming candidate loading combinations according to the full-load bin receiving instructions, determining candidate turnaround floor numbers based on the full-load bin delivery floor, and generating the upward floor sequence, downward floor sequence, and set of receiving instructions to be judged are as follows: Before entering the candidate loading combination generation process, the current floor number of the car, the upper storage space occupancy status value, the lower storage space occupancy status value, the lower full-load bin receiving instruction number, the full-load bin receiving instruction generation timestamp, the full-load bin delivery floor number, the floor empty bin receiving instruction number, the empty bin receiving floor number, the empty bin receiving instruction generation timestamp, and the floor elevation values ​​are read according to the current scheduling cycle. The current number of empty upper and lower storage spaces is calculated according to the storage space occupancy status value. The current scheduling cycle uses the timestamp of the scheduling controller receiving the current scheduling trigger signal as the unified reading time. New instructions generated after the unified reading time are left to be processed in the next scheduling cycle, so that the same level of candidate loading combinations uses a fixed set of instructions during the formation process, avoiding the addition of new instructions during the combination generation period that change the candidate loading sequence. When the car is on the first floor, the empty hoppers in each upper storage position with an occupied status will be discharged sequentially, and the occupied status of the upper storage position that has completed discharge will be updated to an idle status. In specific implementation, discharge control signals are sent to the first-floor empty hopper recycling conveyor line in ascending order of upper storage position number. After the photoelectric sensor of the corresponding upper storage position changes from a material-containing state to an empty state and the photoelectric sensor at the entrance of the first-floor recycling conveyor line detects an empty hopper, it is confirmed that one discharge is completed. Then, the occupied status of the corresponding upper storage position is updated so that the candidate loading combination calculation adopts the actual upper storage position status after the first-floor recycling is completed. The lower-level full-load bin receiving instructions are arranged in ascending order of their generation timestamps to form a lower-level candidate loading sequence. In specific implementation, the generation timestamp of the full-load bin receiving instructions is used as the first sorting field. When the generation timestamps of two full-load bin receiving instructions are the same, the lower-level full-load bin receiving instruction numbers are used in ascending order as the second sorting field. This ensures that the same set of input data yields a unique lower-level candidate loading sequence, and that the full-load bin that enters the waiting state first is given priority in entering the candidate loading combination.

[0024] Starting from the first position of the lower-level candidate loading sequence, material receiving instructions for fully loaded lower-level bins are added one by one to form candidate loading combinations, until the entire lower-level candidate loading sequence is traversed. When the number of material receiving instructions for fully loaded lower-level bins in a candidate loading combination reaches the current number of available storage spaces in the lower level, the addition stops. Each time a material receiving instruction for a fully loaded lower-level bin is added, the current prefix is ​​retained to form a first-level candidate loading combination. The first-level candidate loading combination contains the first instruction of the lower-level candidate loading sequence, the second-level candidate loading combination contains the first two instructions, and subsequent candidate loading combinations at each level are expanded in the same way. Candidate loading combinations do not skip the material receiving instructions for fully loaded lower-level bins that are listed first, so that the candidate loading combination is constrained by both the order of instruction waiting and the current number of available storage spaces in the lower level. For each candidate loading combination, the floor number of the full-load box with the highest corresponding floor elevation is determined as the candidate turnaround floor number. In practice, the floor elevation value is read according to the full-load box receiving floor number associated with each lower full-load box receiving instruction in the candidate loading combination, and the floor corresponding to the maximum floor elevation value is taken as the farthest upward boundary of this candidate round trip. This ensures that all full-load box receiving floors in the candidate loading combination are located between the first floor and the candidate turnaround floor, so that the car has the space to complete the unloading of all full-load boxes in the candidate loading combination in one upward process.

[0025] When the lower-level candidate loading sequence is empty, first count the number of empty cargo box receiving instructions that have not yet been completed within the current scheduling cycle. When the number of empty cargo box receiving instructions that have not yet been completed is zero, end the generation of candidate loading combinations for this round, and do not generate candidate turnaround floor numbers, upward floor sequences, downward floor sequences, or sets of receiving instructions to be judged. Keep the car stopped at the first floor and wait for new full-load cargo box receiving instructions and empty cargo box receiving instructions to trigger the next scheduling cycle. When the number of empty cargo box receiving instructions that have not yet been completed is greater than zero, determine the combination that does not contain lower-level full-load cargo box receiving instructions as the candidate loading combination, and synchronize the generation timestamp of each empty cargo box receiving instruction with the upper limit value of the empty cargo box receiving waiting period. The empty material box receiving instruction with the smallest sum is selected, and the corresponding empty material box receiving floor number is determined as the candidate turnaround floor number. The upper limit of the empty material box receiving waiting time is written into the floor transport control parameter table and calibrated according to the allowable empty material box occupation time of the production equipment and the production line cycle time. In practice, it can be taken as 90s to 300s and kept fixed within the same production batch. The timestamp of the empty material box receiving instruction generation is added to the upper limit of the empty material box receiving waiting time to obtain the deadline for the corresponding empty material box to continue waiting. This allows the car to determine the upward range of this operation when there is no demand for full-loaded material box delivery but there is still a demand for empty material box receiving, based on the empty material box receiving instruction with the earliest waiting deadline.

[0026] Based on the candidate turnaround floor numbers, an upward floor sequence from the first floor to the candidate turnaround floor and a downward floor sequence returning to the first floor are established. The floors corresponding to the full-load hopper delivery floor numbers in the candidate loading combinations are written into the upward delivery stopping floor set. Empty hopper receiving instructions with floor elevation values ​​greater than the first floor elevation value and less than or equal to the candidate turnaround floor elevation value are written into the pending receiving instruction set. In specific implementation, the floors within the range from the first floor to the candidate turnaround floor are arranged in ascending order of floor elevation value to form an upward floor sequence, and then arranged in descending order of floor elevation value to form a downward floor sequence. The upward floor sequence is used to recursively estimate the time position of the car's first passage through each floor, and the downward floor sequence is used to recursively estimate the time position of the car's second passage through each floor after changing its direction of travel. The upward delivery stopping floor set only records the floors where the current candidate loading combination actually needs to perform full-load hopper delivery, which is used to add the car start and stop time during the subsequent timestamp recursion process after the first passage. The value and the corresponding full-load bin discharge time value; the set of material receiving instructions to be judged only includes material receiving instructions of empty bins that can actually be passed in this round trip within the candidate turnaround floor range. From the spatial range, material receiving instructions of empty bins above the candidate turnaround floor are excluded, so that the subsequent first pass must material receiving judgment and the second pass must material receiving judgment are both executed for the floors that the car can actually reach in this trip. This makes the candidate loading combination, candidate turnaround floor number, upward floor sequence, downward floor sequence, upward material feeding stop floor set and the set of material receiving instructions to be judged form a continuous data connection relationship.

[0027] In this implementation plan, by associating candidate loading combinations, candidate turnaround floor numbers, upward floor sequences, downward floor sequences, and sets of pending material receiving instructions, the feeding range of fully loaded material boxes and the receiving range of empty material boxes are uniformly constrained within the same round trip, reducing invalid round trips and out-of-range material receiving judgments, improving the utilization rate of a single transport trip and the accuracy of subsequent material receiving stage judgments.

[0028] Specifically, the steps for determining the first and second passing timestamps of each floor for each candidate loading combination, and identifying the empty hopper receiving instruction whose second passing timestamp is later than the latest receiving timestamp as the mandatory receiving instruction for the first passing, are as follows: Before entering the time recursion, establish independent time calculation records according to the candidate loading combination number. Record the planned departure timestamp from the first floor, the first passing timestamp of each floor, the initial second passing timestamp of each floor, and the latest receiving timestamp using the same scheduling control clock. The timestamp resolution can be set to 1ms to 10ms. Establish a one-to-one correspondence between timestamps and floors according to the floor number and the corresponding floor elevation value. The system ensures that the elapsed times generated by different candidate loading combinations do not overlap. Specifically, the first elapsed timestamp uniformly represents the timestamp when the car first arrives at the corresponding floor stop position during the upward movement, and the second elapsed timestamp uniformly represents the timestamp when the car changes direction and arrives at the corresponding floor stop position again during the downward movement after the candidate turnaround floor. The car start-stop time value and material handover time value generated by the car at the stop floor are used to generate the corresponding floor departure timestamp, and the corresponding floor departure timestamp is used as the starting point for the recursive calculation of the elapsed time of the next floor without changing the first elapsed timestamp and the second elapsed timestamp already generated for the corresponding floor, thereby unifying the calculation method of the elapsed time of each floor.

[0029] Based on the timestamp after the empty material box on the upper floor is unloaded, the receiving time values ​​of each full-loaded material box in the candidate loading combination are accumulated to generate the planned departure timestamp of the corresponding candidate loading combination from the first floor. In practice, the receiving time values ​​of the corresponding full-loaded material boxes are read in the order of receiving instructions of the lower full-loaded material boxes in the candidate loading combination. Each time a lower full-loaded material box receiving instruction is added, a full-loaded material box receiving time value is added after the first floor reference timestamp. This makes the planned departure timestamp from the first floor move backward synchronously as the actual loading quantity in the candidate loading combination increases, and the loading time of different candidate loading combinations on the first floor is transferred to the time calculation of subsequent floors. Starting with the planned departure time of the first floor, the system accumulates the running time values ​​of adjacent floors according to the upward floor sequence. At each upward material feeding stop floor, the system accumulates the car start / stop time value and the corresponding full-load material box discharge time value to generate the first passing time stamp for each floor. In practice, starting from the first floor after the first floor in the upward floor sequence, the system iterates step-by-step, adding the departure time stamp of the previous floor to the running time value of the corresponding adjacent floor to generate the first passing time stamp for the current floor. If the current floor belongs to the set of upward material feeding stops, the system accumulates the sum of the car start / stop time value and the discharge time value of the corresponding full-load material box for the current floor based on the first passing time stamp of the current floor to generate the departure time stamp for the current floor. This departure time stamp is then used as the basis for the recursion to the next floor. If the current floor does not belong to the set of upward material feeding stops, the first passing time stamp of the current floor is directly used as the departure time stamp for the current floor, and the process continues to iterate to the next floor, ensuring that the time occupied by the upward material feeding stops only affects the passing time after the corresponding floor.

[0030] The first passing timestamp of a candidate turnaround floor, plus the sum of the car start / stop time and the corresponding full-load material box discharge time, is used as the starting point for the downward recursion. The running time values ​​of adjacent floors are accumulated according to the downward floor sequence to generate the initial second passing timestamp for each floor. The first passing timestamp of a candidate turnaround floor is recorded according to the arrival time. The car start / stop time and the corresponding full-load material box discharge time values ​​for the candidate turnaround floor are only accumulated once when the departure timestamp of the candidate turnaround floor is generated from the first passing timestamp, and are not accumulated repeatedly when generating the first passing timestamp. If there is no full-load material box discharge at a candidate turnaround floor, the sum of the corresponding full-load material box discharge time values ​​is recorded as zero. The departure timestamp of a candidate turnaround floor is used as the starting point for the downward recursion. The running time values ​​of adjacent floors are accumulated step-by-step from large to small according to the floor elevation values ​​of the downward floor sequence to generate the initial second passing timestamp for each floor. This initial second passing timestamp indicates the estimated time when the car will arrive at the corresponding floor again before the impact of the return empty material box receiving and stopping is added.

[0031] For each empty material box receiving instruction in the set of instructions to be judged, the generation timestamp of the empty material box receiving instruction is added to the upper limit of the empty material box receiving wait time to generate the latest receiving timestamp. The upper limit of the empty material box receiving wait time is calibrated according to the allowable continuous occupation time of the empty material box by the corresponding production equipment and the production cycle, and can be set to 90s to 300s, and remains fixed within the same production batch. The latest receiving timestamp represents the deadline when the corresponding empty material box can continue to wait, so that empty material box receiving instructions with different generation times can be uniformly converted into a time boundary that can be directly compared with the second pass timestamp. Empty material box receiving instructions whose initial second pass timestamp is later than the corresponding latest receiving timestamp are determined as the first pass mandatory receiving instructions. In the specific comparison, the initial second passing timestamp of the corresponding floor is retrieved by the floor number of the empty material box receiving floor. Then, it is compared item by item with the latest receiving timestamp of the same empty material box receiving instruction. If the initial second passing timestamp is strictly later than the latest receiving timestamp, it means that the car will exceed the allowed waiting time if it waits until it arrives at the corresponding receiving floor for the second time after the turnaround to perform the receiving. Therefore, the corresponding empty material box receiving instruction is written into the first passing mandatory receiving instruction. If the initial second passing timestamp is not later than the latest receiving timestamp, the receiving stage of the corresponding empty material box receiving instruction is not changed for the time being, and the process of advancing the subsequent stopping time and adjusting the receiving stage is reserved. In this way, the up-going feeding time occupied by the candidate loading combination, the candidate turnaround time occupied, and the down-going return time are uniformly converted into the time judgment criteria for whether the empty material box can wait until the second passing.

[0032] In this implementation plan, the loading time on the first floor, the uphill feeding and docking time, the candidate turnaround time, and the downhill return time corresponding to the candidate loading combination are uniformly mapped to the first and second passing timestamps of each floor. Combined with the latest receiving timestamp, the first passing must receive instruction is identified. This allows the receiving stage of the empty material box to directly reflect the actual time occupation of the current candidate loading combination for the subsequent process, reducing the receiving delay caused by the return receiving exceeding the allowed waiting time, and improving the timing accuracy of the receiving stage judgment and the execution reliability of the candidate loading combination during multi-floor transportation.

[0033] Specifically, the steps for cyclically updating the two passing timestamps based on the stopping time formed by the first passing mandatory material receiving instruction are as follows: When entering the cyclic update process, the currently determined first passing mandatory material receiving instruction is read according to the upward floor sequence from the floor elevation value from small to large, and the first passing timestamp and second passing timestamp of each floor saved before the start of the current round of recursion are used as the calculation basis. The first passing timestamp and second passing timestamp use the timestamp of the car arriving at the corresponding floor stopping position as a unified recording standard, so that the newly added stopping time in the same round is transmitted along the determined car running direction. When processing the first "must-receive" instruction, if the corresponding floor has already formed an upward stop, the empty material box receiving time value is increased. If the corresponding floor has already formed an upward feeding stop due to a full material box discharging, or has already formed an upward stop due to a previously processed first "must-receive" instruction, the car start-stop time value is not counted again; only the corresponding empty material box receiving time value is added to the current floor's stopping time. If there are multiple "must-receive" instructions for the same floor, the empty material box receiving time values ​​for each floor are combined and accumulated, and the car start-stop time value is counted at most once. Specifically, if the current floor has M "must-receive" instructions for the first time, and the current floor has already formed an upward stop, the newly added stopping time for the current floor is the sum of the M empty material box receiving time values. If the current floor has not yet formed an upward stop, the newly added stopping time for the current floor is the sum of one car start-stop time value and the M empty material box receiving time values; the car start-stop time value is not repeatedly increased for each of the M "must-receive" instructions for the first time. Taking a car start-stop time of 6 seconds and an empty hopper receiving time of 7 seconds as an example, when the 2nd floor has not yet formed an upward stop and there are two first-passing-must-receive-material instructions on the 2nd floor, the additional stop time for the 2nd floor is 20 seconds. The timestamps of the first pass of each floor after the 2nd floor and the timestamps of the second pass of each floor after the turnaround are all shifted back by 20 seconds based on the original recursion. When the 2nd floor has already formed an upward stop, the additional stop time for the 2nd floor is 14 seconds to avoid counting the same floor stop as two start-stop processes. For floors that have not yet formed an upward stop, the car start-stop time and the empty hopper receiving time are increased. The increased car start-stop time is used to account for the time occupied by the car deceleration, stopping and restarting, and the empty hopper receiving time is used to account for the handover time occupied by the empty hopper entering the upper storage position. The two together constitute the additional stop time for the current floor and affect the subsequent running path from the time of departure from the current floor.

[0034] The first and second passing timestamps of each subsequent floor are recalculated based on the increased stopping time. The recalculated second passing timestamp is compared item by item with the latest receiving timestamp of the empty material box receiving instruction for which the receiving stage has not yet been determined. The receiving instructions of empty material boxes whose second passing timestamp is later than the latest receiving timestamp are added to the first passing mandatory receiving instructions. During the recalculation, the original departure timestamp of the newly added stopping floor is added to the newly added stopping time to form the updated departure timestamp. Starting from the updated departure timestamp, the running time values ​​of adjacent floors are accumulated sequentially along the upward floor sequence. The car start and stop times, full material box discharge times, and stopping times formed by the first passing receiving are also included in the subsequent upward material feeding stopping floors. The first passing timestamps of each subsequent floor are updated. After reaching the candidate turnaround floor, the updated departure timestamp of the candidate turnaround floor is used as the starting point for the downward recalculation. The running time values ​​of adjacent floors are accumulated sequentially along the downward floor sequence. The second passing timestamps of each floor are updated.

[0035] For each empty container receiving instruction whose receiving stage has not yet been determined, the second elapsed timestamp of the corresponding receiving floor is read according to the receiving floor number of the empty container, and only the read second elapsed timestamp is compared with the latest receiving timestamp of the same empty container receiving instruction itself; when there are multiple empty container receiving instructions for the same receiving floor, the multiple empty container receiving instructions share the second elapsed timestamp of the corresponding receiving floor, but are compared with their own latest receiving timestamps, and there is no cross-comparison between the second elapsed timestamps of different floors and different empty container receiving instructions.

[0036] Because the added stopping time on the previous floor will continue to be transmitted along the subsequent upward and downward return paths, the empty material box receiving instruction that could originally be completed in the second passing stage may exceed the corresponding latest receiving time stamp due to the second passing timestamp being shifted. Therefore, after each round of recursion, the corresponding second passing timestamp is read according to the empty material box receiving floor number and compared one by one with the latest receiving timestamp of the same empty material box receiving instruction. The empty material box receiving instruction that newly generates a timeout relationship is immediately added to the first passing mandatory receiving instruction, so that the time occupied by the newly added first passing receiving continues to enter the next round of recursion. And the time recursion is repeated until there are no new first passing mandatory receiving instructions after one time recursion. The number of first passing mandatory receiving instructions and the two passing timestamps of each floor are recorded. If no new first-passage mandatory material receiving instructions are added after one time recursion, it indicates that the stopping time generated by all current first-passage mandatory material receiving instructions has been completely transmitted to the subsequent floors in this round trip. The second-passage timestamps corresponding to the material receiving instructions of empty material boxes in the material receiving stage have not been added to the timeout relationship due to the propagation of the current stopping time. The current number of first-passage mandatory material receiving instructions is used as the input for subsequent comparison with the current number of empty storage locations on the upper floor. The first-passage timestamps and second-passage timestamps of each floor obtained by the final recursion are used as the time base for the division of the subsequent material receiving stage.

[0037] In this implementation plan, by continuously feeding back the stopping time generated by the first passing mandatory material receiving instruction to the first passing timestamp and the second passing timestamp of each floor, the impact of new material receiving behavior on the passing times of subsequent floors can be continuously absorbed, and new first passing mandatory material receiving instructions can be continuously identified accordingly. This avoids the inaccuracy of the material receiving stage caused by ignoring the propagation of stopping time in the initial time judgment. The quantity of first passing mandatory material receiving instructions and the two passing timestamps of each floor are stabilized in time before being included in the subsequent storage constraints and material receiving stage division, thereby improving the completeness of multi-floor material receiving judgment and the consistency of actual execution.

[0038] Specifically, the steps for determining the actual loading combination at the lower level are as follows: After completing the cyclic recursion of the first passing material receiving instruction corresponding to each candidate loading combination, the number of the first passing material receiving instruction corresponding to each candidate loading combination is read, and the current number of upper-level empty storage spaces is calculated based on the occupancy status of each upper-level storage space after the empty material box on the first floor is discharged within the current scheduling cycle. The current number of upper-level empty storage spaces is obtained by directly counting the number of upper-level storage spaces with an occupancy status of "empty", which is used to represent the upper limit of storage spaces that can actually receive empty material boxes after the car leaves the first floor.

[0039] The quantity of the first required material receiving instruction is compared with the current quantity of available upper-level storage spaces. If the quantity of the first required material receiving instruction is greater than the current quantity of available upper-level storage spaces, the corresponding candidate loading combination is marked as unexecutable; otherwise, it is marked as executable. In practice, the comparison is performed independently for each level of candidate loading combination. If the quantity of the first required material receiving instruction is greater than the current quantity of available upper-level storage spaces, it indicates that, based on the candidate turnaround floors formed by the current candidate loading combination and the time relationship between the two passes, the number of empty boxes that must be received in the first pass stage has exceeded the actual receiving capacity of the upper-level storage spaces. Continuing to retain all the lower-level full-load box receiving instructions in the candidate loading combination will not be possible without... If the round trip is completed beyond the waiting boundary of the empty hopper, an unexecutable flag is written into the corresponding candidate loading combination record, and the candidate loading combination is stopped from entering the subsequent second passing material receiving instruction generation process. If the number of first passing material receiving instructions is not greater than the current number of upper-level empty storage locations, it indicates that the current upper-level empty storage locations can fully accept all the first passing material receiving instructions generated by the corresponding candidate loading combination. An executable flag is written into the corresponding candidate loading combination record, and the corresponding candidate turnaround floor number, the first passing timestamp of each floor, the second passing timestamp of each floor, and the first passing material receiving instructions are retained as inputs for further division in the subsequent material receiving stage. Since each candidate loading combination is formed by adding lower-level full-load hopper material receiving instructions one by one starting from the first of the lower-level candidate loading sequence, the number of lower-level full-load hopper material receiving instructions contained in the candidate loading combination increases with the combination level. Therefore, the current upper-level empty storage location value forms a reverse constraint on the lower-level loading scale, so that the expansion of the turnaround range and the increase of the first passing material receiving instructions after the lower level adds full-load hoppers can be executed before actual loading.

[0040] When at least one candidate loading combination has an executable flag, the candidate loading combination with the largest number of lower-level full-load bin receiving instructions is selected from the candidate loading combinations marked as executable as the actual lower-level loading combination for this operation. In specific implementation, the number of lower-level full-load bin receiving instructions is counted for all candidate loading combinations with executable flags, and the candidate loading combination with the largest number is selected. The lower-level full-load bin receiving instructions contained in the candidate loading combination are determined as the instruction set for actual loading into the lower-level storage location for this operation. At the same time, the corresponding candidate turnaround floor number, upward floor sequence, downward floor sequence, timestamps of the two passes of each floor, and the first passing mandatory receiving instruction are inherited. This ensures that the actual lower-level loading combination maximizes the number of lower-level storage locations occupied while meeting the upper-level storage location acceptance constraints, and provides a unique scheduling basis for the generation of the subsequent second passing receiving instruction sequence.

[0041] When all candidate loading combinations are marked as unexecutable, the actual loading combination at the lower level is not forcibly selected. The selection of full-load bin loading in the current scheduling cycle ends and a new scheduling cycle is triggered. In the new scheduling cycle, the full-load bin receiving instructions are paused from entering the lower-level candidate loading sequence. The candidate turnaround floor number is determined according to the empty bin receiving instruction whose generation timestamp is the smallest sum of the empty bin receiving waiting upper limit. The empty bin receiving journey is completed according to the current number of empty storage spaces at the upper level. After the car returns to the first floor and completes the upper-level empty bin discharge, the waiting full-load bin receiving instructions are allowed to re-participate in the candidate loading combination generation. This avoids the loss of input for subsequent processes when there are no executable candidate loading combinations and prioritizes the release of empty bin receiving pressure that causes upper-level storage space acceptance constraints.

[0042] In this implementation plan, by constraining the number of material receiving instructions required for the first pass by the current number of available upper-level storage locations, the storage location receiving capacity can be verified before the candidate loading combination is actually executed. The actual loading combination with the largest number of material receiving instructions for the lower-level full-loaded boxes is determined from the executable candidate loading combinations, thereby avoiding the lower-level loading scale from exceeding the upper-level receiving capacity, improving the coordinated utilization rate of upper and lower-level storage locations and the efficiency of transporting full-loaded boxes in a single round trip.

[0043] Specifically, the steps for generating the second passing material receiving instruction sequence are as follows: When entering the second passing material receiving instruction screening process, read the set of material receiving instructions to be judged corresponding to the actual loading combination of the current lower layer, the material receiving instructions that must be received during the first passing, the second passing timestamp of each floor, the latest material receiving timestamp corresponding to the material receiving instructions of each empty material box, and the current number of empty storage spaces in the upper layer. Keep all data in correspondence according to the material receiving instruction number of the empty material box, so that the second passing material receiving instruction screening uses the result after the completion time of the actual loading combination of the current lower layer is recursively calculated, and does not reintroduce data from other candidate loading combinations. Remove the first mandatory receiving instruction from the set of pending receiving instructions. Among the remaining empty material box receiving instructions, those with a second passing timestamp less than or equal to the latest receiving timestamp are identified as second passing candidate receiving instructions. In practice, for each remaining empty material box receiving instruction, the second passing timestamp of the corresponding receiving floor is read according to the empty material box receiving floor number, and only the read second passing timestamp is compared with the latest receiving timestamp of the same empty material box receiving instruction; the same empty material box receiving floor... When there are multiple empty material box receiving instructions, the multiple empty material box receiving instructions share the second passing timestamp of the corresponding receiving floor, but are compared with their respective latest receiving timestamps. Empty material box receiving instructions that have already been written into the first passing mandatory receiving instructions will not participate in the second passing screening, so that the same empty material box receiving instruction corresponds to only one receiving stage; when the second passing timestamp does not exceed the corresponding latest receiving timestamp, it indicates that the car is still within the allowable receiving time range when returning to the corresponding empty material box receiving floor, so the corresponding empty material box receiving instruction is written into the second passing candidate receiving instructions.

[0044] The remaining available material quantity is obtained by subtracting the number of mandatory material receiving instructions from the first pass from the current number of available upper storage locations. The remaining available material quantity represents the number of empty material boxes that the upper storage locations can still accept after all the mandatory material receiving instructions from the first pass have been completed. This is used to limit the material receiving scale of the second pass to within the actual remaining storage capacity of the current round trip, and to prevent the number of candidate material receiving instructions for the second pass from exceeding the upper storage location's capacity.

[0045] Based on the latest receiving timestamp, empty container receiving instructions are selected from the candidate receiving instructions for the second pass in ascending order. The number of selected instructions equals the smaller of the number of candidate receiving instructions for the second pass and the remaining available receiving quantity, generating the second pass receiving instruction sequence. In practice, the candidate receiving instructions for the second pass are first arranged in ascending order of the latest receiving timestamp. If two latest receiving timestamps are the same, the order is determined by the ascending number of the empty container receiving instructions. Then, starting from the first in the sorted list, empty container receiving instructions are selected continuously until the selected quantity reaches the remaining available receiving quantity. If the number of candidate receiving instructions for the second pass is less than the remaining available receiving quantity, all candidate receiving instructions for the second pass are retained. By prioritizing the retention of empty container receiving instructions with earlier latest receiving timestamps, the remaining upper-level storage space is prioritized for receiving needs with smaller waiting margins. This ensures that the second pass receiving instruction sequence simultaneously satisfies time boundary constraints and upper-level storage space capacity constraints, providing a definite instruction sequence for comparing the additional energy value of the first pass with the single additional docking energy value and for adjustments during the receiving phase.

[0046] In this implementation plan, after the first passing material receiving instruction is determined, a second passing material receiving instruction sequence is generated by combining the second passing timestamp, the latest receiving timestamp, and the remaining material receiving quantity. This ensures that the material receiving instructions for empty boxes that have not yet been assigned to the receiving stage are subject to the waiting time constraint and the remaining storage capacity of the upper layer, and that the material receiving instructions for empty boxes with smaller waiting margins are given priority. This improves the rationality of the upper layer storage allocation, reduces the omission of instructions due to insufficient storage space during the return material receiving process, and improves the integrity and execution stability of the empty box material receiving arrangement within the same round trip.

[0047] Specifically, the steps for comparing the additional energy value of the first pass with the single new stop energy value, adjusting to the first pass stage if the latter is less, and maintaining the second pass stage otherwise, and recursively calculating the second pass timestamp for subsequent floors are as follows: When entering the material receiving stage adjustment process, the following information is read: the candidate turnaround floor number, candidate turnaround floor elevation value, second pass material receiving instruction sequence, material receiving floor elevation value of each empty material box, unit vertical carrying energy consumption value of empty material box, single new stop energy value, current upward stop status of each floor, car start / stop time value, empty material box material receiving time value, first pass timestamp of each floor, second pass timestamp of each floor, and latest material receiving timestamp corresponding to each empty material box material receiving instruction. The second pass material receiving instructions for the same material receiving floor are then collected according to the empty material box material receiving floor number, so that the energy comparison is calculated based on the material receiving floor, and the time recursion is based on the actual stop formed on the corresponding material receiving floor. For each receiving floor in the second passing of the receiving instruction sequence, the vertical distance value is obtained by subtracting the elevation value of the empty material box receiving floor from the candidate turnaround floor elevation value. Twice the vertical distance value is multiplied by the unit vertical carrying energy consumption value of the empty material box and the number of second passing of the receiving instruction value of the corresponding receiving floor to generate the additional carrying energy value. Specifically, let the vertical distance value be ΔH, in meters, the unit vertical carrying energy consumption value of the empty material box be ev, in kJ / (m·box), and the number of second passing of the receiving instruction value of the corresponding receiving floor be N, where N is a dimensionless quantity value. Then the additional carrying energy value Ea = 2 × ΔH × ev × N, and the unit of the additional carrying energy value Ea is kJ. Empty material boxes of the same specification are used within the same scheduling cycle, and each empty material box on the same receiving floor uses the unit vertical carrying energy consumption value ev of the empty material box corresponding to the current scheduling cycle. The vertical distance value ΔH represents the one-way vertical distance between the receiving floor of the empty material box and the candidate turnaround floor. After the second stage of the plan to receive the material is adjusted to the first stage, the empty material box continues to move upward with the car from the receiving floor to the candidate turnaround floor, forming an additional upward carrying path. Then, it moves downward with the car from the candidate turnaround floor back to the corresponding receiving floor, forming an additional downward carrying path. The length of both additional carrying paths is ΔH. Therefore, 2×ΔH is used to calculate the total additional vertical carrying distance caused by the early material reception.

[0048] Before entering the first round of energy comparison, the initial values ​​of the current upward feeding stop and the upward stop formed by the first passing mandatory receiving instruction are used as the current upward stopping status of each floor. The second passing receiving instruction is processed floor by floor according to the receiving floor. When the corresponding receiving floor has formed an upward stop, the additional carrying energy value is used as the additional energy value for the first passing. The formation of an upward stop means that when the car passes the corresponding floor for the first time, it needs to complete the material handover of the full-load box discharge and the material receiving action corresponding to the first passing mandatory receiving instruction. Therefore, advancing the second passing receiving instruction of the corresponding receiving floor to the first passing stage will not add an independent start and stop. The additional energy value for the first passing only includes the additional carrying energy value generated by carrying the empty box in advance. When the corresponding receiving floor has not yet formed an upward stop, the sum of the additional carrying energy value and the single new stop energy value is used as the additional energy value for the first passing. The absence of an upward stop means that the advance receiving requires an additional deceleration, stop and restart in the upward stage. The single new stop energy value is used to characterize the energy consumption generated by the new stop.

[0049] When the additional energy value for the first pass is less than the single new docking energy value, the second pass receiving instruction for the corresponding receiving floor is removed from the second pass receiving instruction sequence, and the first pass receiving instruction is added. When the additional energy value for the first pass is greater than or equal to the single new docking energy value, the corresponding receiving instruction is kept executed in the second pass stage. When there are multiple second pass receiving instructions for the same receiving floor, the number of second pass receiving instructions N is first calculated by merging according to the receiving floor, and then an energy comparison is performed on all second pass receiving instructions for the same receiving floor to avoid the single new docking energy value being calculated repeatedly for multiple instructions on the same floor in different orders. After the second material receiving instruction for the corresponding receiving floor is adjusted to the first material receiving stage, the current upward docking status of the corresponding receiving floor is immediately updated to indicate that upward docking has been formed. When a new first material receiving instruction is generated in the subsequent time recursion of the same round and the new first material receiving instruction is located on a floor that has already formed upward docking, the single new docking energy value will not be added again. Only the material receiving time value of the corresponding empty material box will be added, so that the upward docking status is updated in real time with the material receiving stage adjustment, and the energy comparison result of the same receiving floor is avoided from being changed by the processing order.

[0050] After adjusting the second material receiving instruction to the first mandatory material receiving instruction, the first material receiving time is recalculated based on whether an upward stop has already occurred at the corresponding floor. If an upward stop has already occurred, the sum of the material receiving times for each empty material box is added. If an upward stop has not yet occurred, the sum of the car start / stop time and the material receiving times for each empty material box is added. Then, starting from the corresponding floor, the timestamps of the first material receiving time and the second material receiving time after the candidate turnaround are recalculated to ensure that the additional upward stop time caused by the changes in the material receiving stage can be transmitted to the subsequent time positions of this round trip. Following the descending floor sequence, the sum of the car start / stop time value and the corresponding empty material box receiving time value is added to the floor where the second material receiving occurs, and the second passing timestamp of subsequent floors is recalculated. In specific implementation, starting from the first second material receiving floor after the candidate turnaround floor, the floors are processed in descending order of floor elevation value. The original second passing timestamp of the current material receiving floor is used as the arrival timestamp. After completing one car start / stop and receiving all empty material boxes on the current material receiving floor, the updated departure timestamp of the current floor is generated. Then, the updated departure timestamp is used as the starting point for recalculation to accumulate the running time value of the adjacent floors to the next floor, so that the stopping time formed by the second material receiving at the higher floor is continuously transmitted to the subsequent lower floors.

[0051] For each empty container receiving instruction in the second passing receiving instruction sequence, the second passing timestamp, recalculated according to the receiving floor number of the empty container, is read and compared with the latest receiving timestamp of the same empty container receiving instruction. If the second passing timestamp is later than the latest receiving timestamp, the corresponding empty container receiving instruction is deleted from the second passing receiving instruction sequence, and a first passing mandatory receiving instruction is added. The two passing timestamps are recalculated according to the stopping time after the new first passing receiving instruction. A complete iteration includes energy stage comparison of the second passing receiving instruction, adjustment of the first passing stage caused by energy comparison, recalculation of the new stopping time for the first passing, recalculation of the stopping time for the second passing receiving instruction, and verification of the latest receiving time after recalculation. Any changes caused by energy comparison leading to the second passing receiving instruction entering the first passing stage, or by time verification leading to the second passing receiving instruction entering the first passing mandatory receiving instruction, are recorded as new adjustments. After each complete iteration, the current first pass must-receive instruction, second pass receive instruction sequence, first pass timestamp of each floor, and second pass timestamp of each floor are compared with the corresponding records before the start of this round. If no new empty box receive instruction is adjusted from the second pass stage to the first pass stage, and the first pass timestamp and second pass timestamp of each floor no longer change, it is determined that there is no new adjustment and the iteration ends. The final first pass must-receive instruction, second pass receive instruction sequence, and two pass timestamps of each floor are saved so that the final receiving stage simultaneously satisfies the relationship of additional vertical carrying energy, single additional docking energy, and latest receiving time.

[0052] In this implementation plan, by using additional carrying energy value, single additional docking energy value, and second pass timestamp together for material receiving stage adjustment, the material receiving instruction of empty material box can form a unified judgment between energy consumption and time constraints, and the docking impact of the second pass receiving is continuously fed back to subsequent floors, thereby reducing unnecessary early carrying and repeated docking, avoiding the return material receiving from exceeding the latest material receiving timestamp due to time delay, improving the rationality of the material receiving stage division and the overall transportation efficiency of a single round trip.

[0053] This embodiment applies to a double-layer storage elevator car transport scenario in a four-story production plant. Floor 1 serves as the reference floor for loading full-load material boxes and recovering empty material boxes. Floors 2, 3, and 4 are the transport floors where the production equipment is located. The elevation values ​​of the four floors are set to 0m, 4m, 8m, and 12m, respectively. Two empty material box storage positions are set on the upper level of the elevator car, and two full-load material box storage positions are set on the lower level. At the start of this scheduling cycle, the elevator car is located on floor 1, and both upper storage positions are idle. The candidate loading sequence on the lower level includes one instruction to receive a full-load material box on floor 3 and one instruction to receive a full-load material box on floor 4. The candidate loading combination formed by the two full-load material box receiving instructions corresponds to the candidate turnaround floor number 4F. There is one empty material box receiving instruction on floors 2 and 3, respectively, with the latest receiving timestamps being 125s and 130s. The operating time for adjacent floors is set to 18 seconds, the car start-stop time is set to 6 seconds, the full-load bin receiving time and full-load bin discharge time are both set to 8 seconds, the empty-load bin receiving time is set to 7 seconds, the unit vertical carrying energy consumption of the empty-load bin is set to 0.28 kJ / (m·bin), and the energy consumption for a single new stop is set to 3.50 kJ. After the car completes receiving two full-load bins on the 1st floor, it begins to ascend, and the empty-load bin receiving stage is determined based on the candidate loading combination, the number of available storage spaces on the upper floor, the two passing timestamps, and the latest receiving timestamp.

[0054] like Figure 2As shown in the figure, the horizontal axis represents the time within the scheduling cycle, and the vertical axis represents the floor elevation. The three running trajectories represent, in turn, the baseline scheduling result when empty material boxes are retained until the second passing time for material receiving, the scheduling result after recursion based on the latest material receiving time stamp, and the final scheduling result after further comparison of additional carrying energy. The horizontal segments in the trajectory represent the stopping time formed by the car completing the start-stop and material handover at the corresponding floor. The vertical dashed lines of 2F and 3F represent the latest material receiving time stamps of the corresponding empty material box receiving instructions, respectively. 4F is a candidate turnaround floor. In the baseline scheduling result, the second passing time stamp of 2F is 134s, which is later than the latest material receiving time stamp of 125s. Therefore, the material receiving instruction of the empty material box of 2F is transferred to the first passing time mandatory material receiving instruction. After the first passing time stop of 2F, the passing time stamps of the subsequent floors are pushed back as a whole. The second passing time stamp of 3F is pushed back to 129s, which is still not later than the latest material receiving time stamp of 130s. Since 3F has already stopped at an upward location due to the discharge of a full-load hopper, the additional carrying energy value of the empty 3F hopper during its first pass for material receiving is adjusted to 2.24kJ, which is less than the single-pass additional stopping energy value of 3.50kJ. Therefore, the material receiving instruction for the empty 3F hopper is further adjusted to be executed during the first pass. The diagram clearly reflects the continuous scheduling process of the first pass for material receiving caused by the latest material receiving time constraint, the subsequent pass time propagation caused by the additional stopping during the first pass, and the additional carrying energy comparison changing the material receiving stage again. This demonstrates that the multi-storage location status and multi-floor material receiving and delivery instructions can be determined collaboratively within the same round trip.

[0055] like Figure 3 As shown, Figure 3 This diagram illustrates the changes in storage configuration and material receiving command status of a double-layer storage car before and after scheduling within the same scheduling cycle. The left side represents the state before scheduling, where both the upper and lower storage spaces are idle, and the material receiving commands for empty boxes on floors 2 and 3 are pending judgment. The right side represents the planned state after candidate loading combination screening and material receiving stage division. The two lower storage spaces correspond to fully loaded boxes being delivered to floors 3 and 4, respectively, constituting the actual loading combination on the lower layer. The two upper storage spaces are assigned to the first material receiving commands for floors 2 and 3. As shown in the diagram, this invention does not independently arrange the delivery of fully loaded boxes on the lower layer and the receiving of empty boxes on the upper layer. Instead, it jointly determines the actual loading combination on the lower layer and the material receiving stage on the upper layer during the same round trip of the car, establishing a correspondence between the lower layer delivery range and the upper storage space's receiving capacity. This visually demonstrates the constraint relationship between the multiple storage space states and the coordinated scheduling of material receiving commands on multiple floors.

[0056] Specifically, the steps for discharging fully loaded hoppers and receiving empty hoppers are as follows: Before entering the actual transport execution stage, read the actual loading combination of the lower level, the candidate turnaround floor number, the upward floor sequence, the first passing material receiving instruction, the lower level storage location number, the lower level storage location occupancy status value, the upper level storage location number, the upper level storage location occupancy status value, and the floor number of the fully loaded hopper. The order of the lower level fully loaded hopper receiving instructions in the actual loading combination of the lower level is used as the loading order of the fully loaded hoppers, so that the loading relationship determined in the planning stage is directly converted into the actual storage location configuration of the car. According to the actual loading combination of the lower level, the fully loaded hoppers are loaded into the corresponding lower level storage positions, and the correspondence between each lower level storage position and the floor number of the fully loaded hopper is recorded. In specific implementation, the occupancy status value of the lower level storage position is read according to the lower level storage position number. The storage position is selected sequentially from the idle lower level storage positions, and a receiving control signal is sent to the full-load hopper conveying mechanism on the first floor. When the fully loaded hopper enters the selected lower level storage position and the photoelectric sensor of the corresponding storage position outputs a valid signal, the occupancy status value of the corresponding lower level storage position is updated to the occupied status. At the same time, the floor number of the current fully loaded hopper is written into the corresponding lower level storage position record, so that when the car arrives at the delivery floor, it can directly retrieve the lower level storage position that needs to be discharged, and prevent the misalignment of the delivery floor and storage position correspondence when multiple fully loaded hoppers are loaded at the same time.

[0057] After completing the actual loading combination at the lower level, the control car leaves the first floor and moves to the floor corresponding to the candidate turnaround floor number according to the upward floor sequence. Before leaving the first floor, it is verified again that the quantity of the lower level full-load hopper receiving instruction in the actual loading combination at the lower level is consistent with the quantity of the upper level storage space in the occupied state. It is also verified that the upper level storage space in the occupied state has been written with the full-load hopper feeding floor number. After the verification is passed, an upward running instruction is written to the car drive controller. The car passes through each floor in sequence according to the upward floor sequence, and the current floor number is confirmed by the floor arrival switch and the car position encoder, so that the floor sequence formed in the planning stage can be converted into the actual lifting path.

[0058] When the car passes each floor for the first time, if the current floor number is equal to the floor number of the full-loaded material box that has been loaded into the lower storage position, the corresponding lower storage position will be discharged and the corresponding lower storage position will be updated to an idle state. In practice, the full-loaded material box delivery floor number associated with the occupancy status of the upper storage position is retrieved according to the current floor number. If a matching record is found, the car is controlled to decelerate and stop. Then, the handover channel between the corresponding lower storage position and the current floor conveying mechanism is opened, and the lower storage position discharge conveying action is started. When the full-loaded material box has completely left the corresponding lower storage position and the current floor receiving position detects that the full-loaded material box has arrived, the discharge of the full-loaded material box is confirmed to be completed. Then, the occupancy status value of the corresponding lower storage position is updated to an idle state, so that the lower storage position that has completed the delivery will no longer participate in the subsequent floor discharge retrieval.

[0059] When a floor has a "first-passage mandatory material receiving" instruction, an idle upper-level storage location is selected to receive the corresponding empty material box, and the occupancy status of the selected upper-level storage location is updated to "occupied." Specifically, the floor number corresponding to the empty material box receiving instruction for the first-passage mandatory material receiving is retrieved based on the current floor number. If a matching record exists, the corresponding upper-level storage location number mapping record is read based on the empty material box receiving instruction number. If the corresponding upper-level storage location's occupancy status is idle, the empty material box conveying mechanism of the current floor is controlled to send the empty material box into the corresponding upper-level storage location. When the upper-level storage location's photoelectric sensor detects that the empty material box has fully entered and the storage location holding mechanism has locked, the occupancy status of the corresponding upper-level storage location is updated to "occupied," and the number of "first-passage mandatory material receiving" instructions that have not yet been executed for the current floor is deducted. When a floor simultaneously experiences both a full-load material bin discharge and a first-passage material receiving instruction, the lower floor's full-load material bin discharge is completed first during the same car stop, followed by the upper floor's empty material bin receiving. This ensures that the stops already established on the same floor can accommodate both types of material handover actions without adding a separate stop process. After completing all planned material handovers on the current floor, the actual material handover completion time is used as the basis for calculating the actual departure time of the current floor. After confirming that the car door, storage holding mechanism, and floor conveying mechanism are all in a permissible lifting state, the upward floor sequence continues to operate, ensuring that the actual loading combination on the lower floor and the first-passage material receiving instruction are executed continuously during one upward process according to the floor relationship determined in the planning stage.

[0060] In this implementation plan, by establishing a correspondence between the actual loading combination of the lower layer, the floor number of the full-loaded material box, the first time the material must be received, and the storage status of the upper and lower layers, the material discharge of the full-loaded material box and the material reception of the empty material box can be executed continuously according to the same upward floor sequence, and the material handover between the upper and lower layers can be completed during the stop at the same floor. This reduces repeated stops and storage mismatch, and improves the material handover efficiency and actual execution consistency of the double-layer storage car during a single upward process.

[0061] Specifically, the steps for recalculating the two-pass timestamps of unexecuted floors based on the actual departure timestamps of the upward-moving floors and adjusting the material receiving stage, changing the running direction and completing the return material receiving after reaching the candidate turnaround floor are as follows: After entering the dynamic execution correction process, the following information is read: the upward floor sequence, downward floor sequence, candidate turnaround floor number, first-pass mandatory material receiving instruction, second-pass material receiving instruction sequence, current first-pass timestamp of each floor, current second-pass timestamp of each floor, and latest material receiving timestamp corresponding to the material receiving instructions of each empty material box. The floors that have completed their first pass and those that have not yet been passed are divided according to the current actual running progress of the car. The first-pass timestamp of the floors that have not yet been passed is recalculated, and the second-pass timestamp of the floors that have not yet been passed is recalculated, so that the already formed actual transport records are no longer included in the planned time. Inter-level coverage; Before the car leaves the first floor, read the current upper-level storage space occupancy status value, arrange the upper-level storage spaces with an occupancy status value of "idle" in ascending order of upper-level storage space number, then arrange the first passing material receiving instructions according to the execution order corresponding to the upward floor sequence, and arrange the second passing material receiving instruction sequence according to the execution order corresponding to the downward floor sequence, and assign a unique upper-level storage space number to each empty material box receiving instruction in turn, generating a mapping record between the empty material box receiving instruction number and the upper-level storage space number; When there are multiple empty material box receiving instructions on the same floor, complete the upper-level storage space allocation according to the empty material box receiving instruction number in ascending order, and when the subsequent receiving stage is adjusted, only update the receiving stage to which the empty material box receiving instruction belongs, keeping the already assigned upper-level storage space number unchanged, so that the first and second passing material receiving can determine the unique upper-level storage space based on the empty material box receiving instruction number.

[0062] After each material handover is completed at an upward stopping floor, the first and second passing timestamps of floors not yet passed are recalculated using the actual departure timestamp of the current floor. The actual departure timestamp of the current floor is recorded by a unified scheduling clock when all the full load bins assigned to the current floor have finished discharging and the empty bins have finished receiving, the corresponding storage location occupancy status value has been updated, the floor conveyor has exited the handover position, and the car has regained lifting permission. This ensures that the actual departure timestamp of the current floor includes the actual start-stop time and the actual material handover time of the current floor. When recursively pushing forward, the actual departure timestamp of the current floor is replaced with the departure timestamp of the floor corresponding to the planned stage. The first floor after the current floor that has not yet been passed for the first time is taken as the starting point for the upward recursion. The running time values ​​of adjacent floors are accumulated one by one according to the upward floor sequence to generate the updated first passing timestamp of each remaining floor. For the upward feeding and stopping floors that have not yet been executed, the car start-stop time value and the corresponding full-load material box discharge time value are added to the corresponding first passing timestamp to form the departure timestamp of the corresponding floor. For the floors that have been determined to have a first passing material receiving instruction, the corresponding empty material box receiving time value is added according to the number of first passing material receiving instructions of the current floor. If the same floor has already formed an upward stop due to the discharge of full-load material boxes, the car start-stop time value is not added again. If the same floor only forms an upward stop due to the first passing material receiving instruction, the car start-stop time value is only added once, and the receiving time values ​​of each empty material box on the same floor are combined and added together. The upward recursion continues up to the candidate turnaround floor. The first passing timestamp of the updated candidate turnaround floor is added to the already determined car start / stop time, full load hopper discharge time, and first passing material receiving time to form the updated departure timestamp of the candidate turnaround floor. The updated departure timestamp of the candidate turnaround floor is used as the starting point for the downward recursion. The running time values ​​of adjacent floors are added one by one from the candidate turnaround floor to the first floor according to the downward floor sequence, and the second passing timestamp of each floor below the candidate turnaround floor is regenerated. During the downward recursion, if there is a second passing material receiving instruction for the current floor, the second passing timestamp of the current floor is added to the sum of the car start / stop time and the empty hopper receiving time value corresponding to each second passing material receiving instruction for the current floor to form the second passing departure timestamp of the current floor. The second passing departure timestamp of the current floor is then used as the starting point for the next floor recursion, so that the advance, delay, and return trip planned material receiving and stopping time caused by the actual departure time of the upward trip can be transmitted to all upward floors, candidate turnaround floors, and downward floors that have not yet been executed.

[0063] After recalculation, for empty material box receiving instructions in the second passing material receiving instruction sequence for floors not yet passed by the car for the first time, if the corresponding second passing timestamp is later than the latest receiving timestamp, the corresponding empty material box receiving instruction is deleted from the second passing material receiving instruction sequence, and a first passing mandatory receiving instruction is added. The stopping time is increased according to whether the corresponding floor has already formed an upward stop, and the first passing timestamp and second passing timestamp of each subsequent floor are recalculated until no new first passing mandatory receiving instructions are added. In specific implementation, only empty material box receiving instructions for floors not yet passed by the car for the first time are checked, and the recalculated second passing timestamp of the corresponding floor is read according to the empty material box receiving floor number, and then compared with the latest receiving timestamp of the same empty material box receiving instruction. The timestamps of the materials are compared; if the corresponding floor has already formed an upward stop, the sum of the material receiving time values ​​of each empty material box corresponding to the newly added first-passage mandatory material receiving instruction in this round is added to the corresponding floor stop time; if the corresponding floor has not yet formed an upward stop, the sum of the car start-stop time value and the material receiving time values ​​of each empty material box corresponding to the newly added first-passage mandatory material receiving instruction in this round is added to the corresponding floor stop time; if multiple newly added first-passage mandatory material receiving instructions are generated for the same floor in the same round, the material receiving time values ​​of each empty material box are combined and accumulated, and the car start-stop time value is only accumulated once. Then, starting from the corresponding floor, the time recursion is re-executed according to the aforementioned range of the remaining upward floors, candidate turnaround floors, and all downward floors; if no new first-passage mandatory material receiving instructions are added after one recursion, the current dynamic correction ends.

[0064] After the car reaches the floor corresponding to the candidate turnaround floor number and completes the assigned material discharge and receiving operations for that floor, it changes its running direction and returns to the first floor according to the downhill floor sequence. In specific implementation, after the full-load hopper at the candidate turnaround floor has finished discharging material, the first material receiving instruction has been executed, and the corresponding storage space occupancy status value has been updated, a downhill running instruction is written to the car drive controller. The car then passes through each floor in descending order of floor elevation value according to the downhill floor sequence, so that the candidate turnaround floors constitute the running direction switching boundary for this round trip. When passing through each floor for the second time, only empty material boxes on the floors corresponding to the second passing material receiving instruction sequence are received; after the car arrives at the floor with the second passing material receiving instruction, it retrieves the empty material box receiving instruction in the second passing material receiving instruction sequence according to the current floor number, and then reads the pre-established upper storage position number mapping record according to the empty material box receiving instruction number. After confirming that the assigned upper storage position occupancy status value is still in the idle state, it controls the current floor empty material box conveying mechanism to send the empty material box into the assigned upper storage position; after each empty material box receiving instruction is completed, the corresponding upper storage position occupancy status value is updated to the occupied state. In practice, after the empty hopper has fully entered the assigned upper storage position, the upper storage position's photoelectric sensor outputs a valid status, and the storage position holding mechanism has completed locking, it is confirmed that the current empty hopper receiving instruction has been executed. Then, based on the mapping record between the empty hopper receiving instruction number and the upper storage position number, the assigned upper storage position occupancy status value is updated to occupancy status, so that the second passing receiving execution result is consistent with the actual occupancy status of the upper storage position, and the two passing time relationships formed in the planning stage can be continuously corrected according to the actual upward handover progress until the car completes this return trip.

[0065] In this implementation plan, the first and second pass timestamps of floors that have not yet been processed are continuously corrected by the actual departure timestamp of the upper-level docking floor. This allows the scheduling plan to be dynamically adjusted according to the actual material handover progress, and the sequence of the first pass material receiving instruction and the second pass material receiving instruction to be adjusted in a timely manner. This avoids the return material receiving exceeding the latest material receiving timestamp due to actual docking delays, and ensures that the downhill material receiving arrangement after the candidate turnaround floor is consistent with the actual occupancy status of the upper-level storage space, thereby improving the dynamic adaptability and actual execution stability of the multi-floor round-trip transportation process.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0067] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-floor transport scheduling method based on multiple storage location states and task coordination, characterized in that, Includes the following steps: S1, obtain floor transport scheduling data, form candidate loading combinations according to the full load box receiving instructions, determine the candidate turnaround floor number according to the full load box delivery floor, and generate the up-line floor sequence, down-line floor sequence and the set of receiving instructions to be judged; S2, for each candidate loading combination, recursively calculate the first and second passing timestamps of each floor, determine the empty material box receiving instruction whose second passing timestamp is later than the latest receiving timestamp as the first passing mandatory receiving instruction, and cyclically update the two passing timestamps based on the stopping time formed by the first passing mandatory receiving instruction. S3, based on the quantity of the first required material receiving instruction and the current quantity of available storage spaces in the upper layer, select executable candidate loading combinations, and determine the actual loading combination in the lower layer from the executable candidate loading combinations; S4. Generate a second material receiving instruction sequence based on the difference between the current number of available storage locations on the upper floor and the number of material receiving instructions required for the first pass. Compare the additional energy value for the first pass with the single new docking energy value. If the difference is less, adjust to the first pass stage. Otherwise, maintain the second pass stage and recursively push the second pass timestamp of subsequent floors. S5 executes the full-load material box discharge and empty material box receiving according to the actual loading combination and receiving stage of the lower layer. Based on the actual departure time stamp of the upper-going stopping floor, it re-calculates the two passing time stamps of the unexecuted floors and adjusts the receiving stage. After reaching the candidate turnaround floor, it changes the running direction and completes the return receiving.

2. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 1, characterized in that: The floor transport scheduling data includes the current floor number of the car, the upper storage position number, the upper storage position occupancy status value, the lower storage position number, the lower storage position occupancy status value, the lower full-load box receiving instruction number, the full-load box receiving instruction generation timestamp, the floor number for delivering the full-load box, the floor number for receiving the empty box, the floor number for receiving the empty box, the empty box receiving instruction generation timestamp, the floor elevation values, the running time values ​​of adjacent floors, the car start-stop time values, the full-load box receiving time value, the full-load box discharging time value, the empty box receiving time value, the unit vertical carrying energy consumption value of the empty box, and the single new stop energy value.

3. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 2, characterized in that: The specific steps for forming candidate loading combinations according to the material receiving instructions of the full-load hopper, determining the candidate turnaround floor number based on the material delivery floor of the full-load hopper, and generating the upward floor sequence, downward floor sequence, and set of material receiving instructions to be judged are as follows: When the car is on the first floor, empty boxes in each upper storage position with an occupied status will be discharged in sequence, and the occupied status of the upper storage position that has completed discharge will be updated to an idle status; the lower full-load box receiving instructions will be arranged in ascending order according to the generation timestamp of the lower full-load box receiving instructions to form a lower candidate loading sequence. Starting from the first position of the lower-level candidate loading sequence, add the lower-level full-load box receiving instructions one by one to form candidate loading combinations, until the lower-level candidate loading sequence is traversed, or the number of lower-level full-load box receiving instructions in the candidate loading combination equals the current number of lower-level empty storage spaces; for each level of candidate loading combination, determine the floor number of the full-load box delivery with the highest corresponding floor elevation value as the candidate turnaround floor number; when the lower-level candidate loading sequence is empty, determine the combination that does not contain lower-level full-load box receiving instructions as the candidate loading combination, add the timestamp of each empty box receiving instruction to the upper limit value of empty box receiving waiting, select the empty box receiving instruction with the smallest sum, and determine the corresponding empty box receiving floor number as the candidate turnaround floor number; Based on the candidate turnaround floor number, establish an upward floor sequence from the first floor to the candidate turnaround floor and a downward floor sequence returning to the first floor. Write the floor corresponding to the full load material box feeding floor number in the candidate loading combination into the upward feeding stop floor set, and write the empty material box receiving floor elevation value that is greater than the first floor elevation value and less than or equal to the candidate turnaround floor elevation value into the waiting receiving instruction set.

4. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 3, characterized in that: The specific steps for recursively calculating the first and second passing timestamps for each floor based on each candidate loading combination, and determining the empty material box receiving instruction whose second passing timestamp is later than the latest receiving timestamp as the first passing mandatory receiving instruction, are as follows: Based on the timestamp after the empty material box on the upper floor of the first floor is discharged, the receiving time values ​​of each full material box in the candidate loading combination are accumulated to generate the planned departure timestamp of the corresponding candidate loading combination from the first floor. Starting from the planned departure time of the first floor, the running time values ​​of adjacent floors are accumulated according to the upward floor sequence. The car start-stop time value and the corresponding material discharge time value of each full-load box are accumulated at the upward material feeding and stopping floor to generate the first passing time of each floor. The first passing timestamp of the candidate turnaround floor, plus the car start and stop time value and the corresponding material discharge time value of each full-load box, is used as the starting point for the downward recursion. The running time values ​​of adjacent floors are accumulated according to the downward floor sequence to generate the initial second passing timestamp of each floor. For each empty material box receiving instruction in the set of receiving instructions to be judged, the timestamp of the empty material box receiving instruction is added to the upper limit of the empty material box receiving waiting time to generate the latest receiving timestamp. The empty material box receiving instruction whose initial second passing timestamp is later than the corresponding latest receiving timestamp is determined as the first passing mandatory receiving instruction.

5. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 4, characterized in that: The specific steps for cyclically updating the timestamps of the two passes based on the stopping time generated by the first passing of the mandatory material receiving instruction are as follows: When processing the first mandatory material receiving instruction, if the corresponding floor has already formed an upward stop, increase the empty material box receiving time value; if the corresponding floor has not yet formed an upward stop, increase the car start / stop time value and the empty material box receiving time value. Based on the increased stopping time, recalculate the first and second passing timestamps of each subsequent floor. Compare the recalculated second passing timestamp with the latest receiving timestamp of the empty material box receiving instruction for which the receiving stage has not yet been determined. Add the empty material box receiving instructions whose second passing timestamp is later than the latest receiving timestamp to the first mandatory material receiving instruction. Repeat the time recalculation until no new first mandatory material receiving instructions are added after one time recalculation. Record the number of first mandatory material receiving instructions and the two passing timestamps of each floor.

6. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 5, characterized in that: The specific steps for determining the actual loading combination of the lower layer in this operation are as follows: Compare the quantity of the first required material receiving instruction with the quantity of the current upper-level free storage space. If the quantity of the first required material receiving instruction is greater than the quantity of the current upper-level free storage space, mark the corresponding candidate loading combination as unexecutable; otherwise, mark it as executable. From the candidate loading combinations marked as executable, select the candidate loading combination with the largest number of material receiving instructions for the lower-level full-load hopper as the actual loading combination for this lower level.

7. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 6, characterized in that: The specific steps for generating the second material receiving instruction sequence are as follows: Remove the first required material receiving instruction from the set of pending material receiving instructions, and determine the remaining empty material box material receiving instructions whose second passing timestamp is less than or equal to the latest material receiving timestamp as the second passing candidate material receiving instructions. Subtract the number of material receiving instructions required for the first pass from the current number of available upper-level storage locations to obtain the remaining material receiving quantity. Select empty material box receiving instructions from the candidate receiving instructions for the second pass in ascending order of the latest receiving timestamp. The selected quantity is equal to the smaller value between the number of candidate receiving instructions for the second pass and the remaining material receiving quantity, thus generating the second pass receiving instruction sequence.

8. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 7, characterized in that: The specific steps for comparing the initial energy value with the single new stop energy value, adjusting to the first passing stage if the latter is less, and maintaining the second passing stage otherwise, and recursively calculating the second passing timestamp for subsequent floors, are as follows: For each receiving floor in the second passing of the receiving instruction sequence, the vertical distance value is obtained by subtracting the elevation value of the empty material box receiving floor from the candidate turnaround floor elevation value. Twice the vertical distance value is multiplied by the unit vertical carrying energy consumption value of the empty material box and the number of second passing of the receiving instruction value of the corresponding receiving floor to generate the additional carrying energy value. If the corresponding receiving floor has already formed an upward stop, the additional carrying energy value is used as the first passing additional energy value. If the corresponding receiving floor has not yet formed an upward stop, the sum of the additional carrying energy value and the single new stop energy value is used as the first passing additional energy value. When the additional energy value for the first pass is less than the single new stop energy value, the second pass material receiving instruction for the corresponding receiving floor is deleted from the second pass material receiving instruction sequence, and the first pass mandatory material receiving instruction is added. When the additional energy value for the first pass is greater than or equal to the single new stop energy value, the corresponding material receiving instruction is kept executed in the second pass stage. According to the descending floor sequence, the sum of the car start-stop time value and the corresponding empty material box receiving time value is added to the floor where the second pass material receiving is formed, and the second pass timestamp of subsequent floors is recalculated. When the second pass timestamp is later than the latest material receiving timestamp, the corresponding empty material box receiving instruction is deleted from the second pass material receiving instruction sequence, and the first pass mandatory material receiving instruction is added. The two pass timestamps are recalculated according to the stop time after the first pass material receiving is added, until there are no more new adjustments.

9. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 8, characterized in that: The specific steps for discharging material from a full-load hopper and receiving material from an empty-load hopper are as follows: According to the actual loading combination of the lower level, the fully loaded material box is loaded into the corresponding lower level storage position, and the correspondence between each lower level storage position and the floor number of the fully loaded material box is recorded; after completing the actual loading combination of the lower level, the car is controlled to leave the first floor and move to the floor corresponding to the candidate turnaround floor number according to the upward floor sequence. When the car passes through each floor for the first time, if the current floor number is equal to the floor number of the full-loaded material box that has been loaded into the lower storage position, the corresponding lower storage position will be discharged and the corresponding lower storage position will be updated to an idle state. If there is a "must receive material for the first time" instruction for the current floor, the upper storage position in an idle state will be selected to receive the corresponding empty material box and the occupancy status value of the selected upper storage position will be updated to an occupied state.

10. The multi-floor transport scheduling method based on multi-storage location status and task coordination according to claim 9, characterized in that: The specific steps for recalculating the two passing timestamps of the unexecuted floors based on the actual departure timestamp of the uphill stopping floor, adjusting the material receiving stage, changing the running direction after reaching the candidate turnaround floor, and completing the return material receiving are as follows: After each actual material handover is completed at an upward-moving floor, the first and second passing timestamps of the floors not yet passed are recalculated based on the actual departure timestamp of the current floor. After recalculation, for empty material box receiving instructions in the second passing material receiving instruction sequence that have not yet been passed by the car for the first time, when the corresponding second passing timestamp is later than the latest receiving timestamp, the corresponding empty material box receiving instruction is deleted from the second passing material receiving instruction sequence, and a first passing mandatory receiving instruction is added. The stopping time is increased according to whether the corresponding floor has already formed an upward stop, and the first passing timestamp and second passing timestamp of each subsequent floor are recalculated until there are no new first passing mandatory receiving instructions. After the car reaches the floor corresponding to the candidate turnaround floor number and completes the material discharge and receiving operations assigned to the corresponding floor, it changes its running direction and returns to the first floor according to the downhill floor sequence. When passing through each floor for the second time, it only performs material receiving for the empty material box corresponding to the floor in the material receiving instruction sequence of this second passage. After each empty material box material receiving instruction is completed, the occupancy status value of the corresponding upper storage position is updated to the occupancy status.

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