Intelligent control method of equipment based on automated stereoscopic warehouse

Abstract

The application discloses a kind of equipment intelligent control methods based on automated stereoscopic warehouse, it is related to warehousing logistics automation control technical field, including, using equipment handover blockage propagation diagram to carry out forward shadow deduction to candidate equipment control action and track equipment resource along the release state of goods flow direction gradually, generate first equipment release evidence data;From the downstream limited position in equipment handover blockage propagation diagram, the resource continues to occupy and handover blockage is generated to the second equipment retention counter-evidence data in the reverse deduction upstream extension process;First equipment release evidence data and the second equipment retention counter-evidence data are input into equipment control mirror image closed model, and the forward resource release process and reverse resource retention process are carried out gradually closed verification, and output equipment cooperative control instruction chain.The application achieves the effect of improving equipment handover control accuracy and reducing invalid linkage adjustment.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for warehousing and logistics, and in particular to an intelligent control method for equipment based on automated three-dimensional warehouses. Background Technology

[0002] With the development of intelligent manufacturing and automated warehousing and logistics, automated storage and retrieval systems (AS / RS) are gradually evolving towards multi-equipment collaborative control. The continuous handover between stacker cranes, conveying equipment, lifting equipment, and shuttle equipment has become an important part of warehousing operations. Typically, the execution sequence of equipment is determined based on the task status and equipment operating status, and the use of shared equipment resources is coordinated by combining resource occupancy time windows, task sequencing, and path conflict detection to achieve continuous transfer of goods.

[0003] However, the judgment of the control actions of candidate equipment is still mainly based on the current resource occupancy status and timing conflicts. There is a lack of further verification on whether the equipment resources can be continuously released along the direction of cargo flow. When the actual resource release time deviates, task rearrangement or path replanning is usually used for adjustment. It is difficult to accurately limit the range of actions of the affected equipment, which can easily lead to unnecessary linkage adjustments. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides an intelligent control method for equipment based on automated storage and retrieval systems to solve the problems of lack of continuous resource release verification for candidate equipment control actions and difficulty in accurately defining the scope of influence of resource release deviation.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides an intelligent control method for equipment in an automated storage and retrieval system (AS / RS). The method includes: collecting task status and equipment operation data from the AS / RS to form a warehouse equipment state flow; decomposing the task execution process using the warehouse equipment state flow and deducing the entry and release times of equipment resources to form a spatiotemporal occupancy chain; then tracing the resource release conditions of downstream equipment and propagating the handover blockage effect upstream to generate an equipment handover blockage propagation diagram; using the equipment handover blockage propagation diagram to perform forward shadow deduction of candidate equipment control actions and tracking the step-by-step release status of equipment resources along the cargo flow direction to generate first equipment release evidence data; deducing the continuous resource occupancy and the upstream extension process of handover blockage from the downstream restricted position in the equipment handover blockage propagation diagram to generate second equipment retention counter-evidence data; inputting the first equipment release evidence data and the second equipment retention counter-evidence data into an equipment control mirror closure model and performing step-by-step closure verification of the forward resource release process and the reverse resource retention process to output an equipment collaborative control command chain; using the equipment collaborative control command chain to execute warehousing tasks and locally correcting the actions of affected equipment based on actual resource release deviations to obtain a warehouse equipment intelligent control report.

[0007] As a preferred embodiment of the intelligent control method for equipment based on automated storage and retrieval systems (AS / RS) of the present invention, the task status of the AS / RS includes the current location of the goods, the target storage location, the target outbound handover location, and the current execution node. The device operation data includes the device's current location, remaining time for the current action, and device occupancy status.

[0008] As a preferred embodiment of the intelligent control method for equipment based on automated storage and retrieval systems (AS / RS) of the present invention, the specific steps for forming the warehouse equipment state flow are as follows: The order of equipment handover is determined based on the time of release and establishment of occupation of the same goods between adjacent equipment. The time offset of each equipment status frame is corrected by the order of equipment handover, and the equipment status sequence is unified according to the order of goods flow to generate equipment handover sequence evidence. By using equipment handover sequence evidence to verify the temporal connection between task status and equipment operation data according to the order of goods flow, late states that cause the current execution node to roll back are eliminated, forming a warehouse equipment status flow.

[0009] As a preferred embodiment of the intelligent equipment control method based on automated storage and retrieval systems (AS / RS) of the present invention, the specific steps of decomposing the task execution process using the state flow of warehouse equipment and deducing the entry and release times of equipment resources to form a spatiotemporal occupancy chain are as follows: By utilizing the warehouse equipment state flow, we can trace the associated equipment resources from the current execution node along the cargo flow relationship, and break down the task execution process according to the continuous occupancy status of the equipment resources to generate a task resource action chain; Based on the task resource action chain, the entry and release times of each equipment resource are deduced by combining the warehouse equipment state flow, and the entry and release relationships of adjacent equipment resources are connected according to the order of goods flow to form the equipment spatiotemporal occupancy chain.

[0010] As a preferred embodiment of the intelligent equipment control method based on automated storage and retrieval systems (AS / RS) of the present invention, the specific steps of reversely tracking the resource release conditions of downstream equipment and propagating the handover obstruction impact upstream to generate an equipment handover obstruction propagation diagram are as follows: The occupancy status of downstream devices is checked in reverse from the end of the task to the current execution node along the device spatiotemporal occupancy chain. When the current occupancy of the downstream device ends and the handover position is in an idle state, it is determined that the resource release condition is met, and a downstream release constraint is formed. Based on the downstream release constraints, the expected release time of the upstream equipment is compared with the time when the downstream equipment meets the resource release conditions. The handover blockage duration is determined and the handover blockage effect is transmitted level by level along the equipment spatiotemporal occupancy chain to form the equipment handover back pressure state. Based on the back pressure state of equipment handover, the affected equipment resources are associated according to the transmission order of the handover blockage effect to generate an equipment handover blockage propagation graph.

[0011] As a preferred embodiment of the intelligent equipment control method based on automated storage and retrieval systems (AS / RS) of the present invention, the specific steps of using the equipment handover obstruction propagation diagram to perform forward shadow extrapolation of the control actions of candidate equipment and tracking the step-by-step release status of equipment resources along the cargo flow direction to generate first equipment release evidence data are as follows: Based on the equipment handover blockage propagation graph, extract the equipment resources and handover locations involved in the candidate equipment control actions, and establish a local shadow execution branch isolated from the real equipment state based on the current equipment occupancy state. Map the candidate equipment control actions to the local shadow execution branch to generate the candidate action shadow state. Based on the shadow state of candidate actions, candidate equipment control actions are injected level by level according to the direction of cargo flow, and forward shadow deduction is performed on the candidate equipment control actions. When the downstream equipment meets the receiving conditions, the cargo state is migrated and the resource release certificate is returned to the upstream equipment. When the resource release certificate can no longer be generated, the current deduction is stopped, forming the equipment resource release trajectory. The device resource release trajectory is used to track the process of occupying and releasing device resources, locate the interruption position of resource release certificate and the source of handover blockage, and obtain the device release verification sequence. The expected release time and shadow release time of each device resource are compared using the device release verification sequence, and the device resource release evidence index is calculated. Based on the device resource release evidence index, the continuous release capability of device resources under the control action of candidate devices is judged, and the first device release evidence data is generated.

[0012] As a preferred embodiment of the intelligent equipment control method based on automated storage and retrieval systems described in this invention, the step of reversely deducing the continuous resource occupation and the upstream expansion process of the handover blockage from the downstream restricted position in the equipment handover blockage propagation diagram to generate second equipment stagnation counter-evidence data is as follows: Based on the transmission order of the impact of handover blockage in the equipment handover blockage propagation diagram, locate the downstream equipment resource where the handover blockage first occurs, extract the affected upstream equipment resources along the direction of handover blockage propagation, and establish a reverse shadow execution branch based on the current equipment occupancy state to generate the restricted location reverse shadow state. By utilizing the reverse shadow state of the restricted location, the expected resource release of the upstream equipment is cancelled and the handover process is re-analyzed, recording the continuously occupied equipment resources and forming the equipment stagnation and expansion trajectory. Based on the equipment stagnation and expansion trajectory, the continuous occupancy range of equipment resources is tracked along the direction of handover blockage propagation, and the stagnation and expansion boundary is determined by the equipment resources that have recovered and are released normally, thus obtaining the equipment stagnation verification sequence; Based on the equipment retention verification sequence, determine the duration of continuous occupation of each equipment resource and the extent of handover blockage expansion, calculate the equipment retention counter-evidence index, use the equipment retention counter-evidence index to judge the extent of the continuous expansion of handover blockage to upstream equipment resources, and generate the second equipment retention counter-evidence data.

[0013] As a preferred embodiment of the intelligent equipment control method based on automated storage and retrieval systems described in this invention, the steps of inputting the first equipment release evidence data and the second equipment retention counter-evidence data into the equipment control mirror closed-loop model, and performing step-by-step closed-loop verification of the forward resource release process and the reverse resource retention process, and outputting the equipment collaborative control command chain are as follows: Input the evidence data of the first device release and the evidence data of the second device retention into the device control mirror closed model, and align the forward release state and the reverse retention state according to the same device resources and handover position, and output the device mirror verification sequence; The resource release timing difference and the delay impact timing difference at the handover location of each device are calculated using the device mirror verification sequence. Based on the release sequence and time deviation reflected by the two types of timing differences, the device mirror closure index is calculated to form a mirror closure judgment sequence. Based on the mirror closure judgment sequence, the handover position of each device is verified step by step along the cargo flow direction to locate the real closure breakpoint where the forward resource release is blocked by the reverse resource retention, and thus obtain the mirror closure verification sequence. The mirror closure verification sequence is used to screen candidate equipment control actions that do not have real closure breakpoints, and the corresponding equipment control actions are connected according to the cargo flow sequence to generate a collaborative equipment control instruction chain.

[0014] As a preferred embodiment of the intelligent control method for equipment based on automated storage and retrieval systems (AS / RS) of the present invention, the specific steps for obtaining the intelligent control report for the warehouse equipment are as follows: The storage task is executed according to the equipment handover sequence using the equipment collaborative control command chain. The actual resource release time is compared with the expected resource release time. Based on the resource release deviation, the actions of the affected equipment are determined, the entry time and release time of the resources of the affected equipment are corrected, and a local correction command segment is generated. Update the equipment collaborative control command chain according to the local correction command segment and continue to execute the warehousing task, record the equipment resource release status and equipment action correction status, and generate a warehouse equipment intelligent control report.

[0015] As a preferred embodiment of the intelligent equipment control method based on automated storage and retrieval systems (AS / RS) of the present invention, the equipment control mirror closure model includes: The dual-evidence input layer receives evidence data from the release of the first device and counter-evidence data from the retention of the second device, and establishes a two-way evidence correspondence relationship according to the same device resources and handover location; The mirror timing mapping layer aligns the timing of resource release certificate formation and the arrival time of retention impact to reflect the positive release status and reverse retention status of each device handover location. The closure degree calculation layer calculates the equipment mirror closure index based on the resource release time difference and the retention impact time difference, and determines the closure degree of each equipment handover position; The closure breakpoint verification layer checks the closure judgment status step by step along the cargo flow direction to identify the real closure breakpoints where the forward resource release is blocked by the reverse resource retention. The collaborative control output layer filters executable candidate equipment control actions based on the verification of actual closed breakpoints, determines the equipment handover control sequence according to the cargo flow sequence, and outputs a collaborative control instruction chain for the equipment.

[0016] The beneficial effects of this invention are as follows: By performing forward shadow extrapolation of the control actions of candidate equipment and reverse retention extrapolation from the downstream restricted position, the continuous release capability of equipment resources and the risk of handover blockage expansion are independently verified in both directions, thus achieving the effect of identifying potential continuous occupancy control actions in advance and reducing the risk of handover blockage spread; by using the equipment control mirror closure model to perform step-by-step closure verification of the release evidence data of the first equipment and the retention counter-evidence data of the second equipment, the true closure breakpoint is located and the executable equipment control actions are screened, thus improving the accuracy of equipment handover control and reducing ineffective linkage adjustments. Attached Figure Description

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

[0018] Figure 1 This is a flowchart of an intelligent control method for equipment based on an automated storage and retrieval system (AS / RS).

[0019] Figure 2 A flowchart for creating the state flow of warehouse equipment.

[0020] Figure 3 This is a structural diagram of the collaborative control of automated storage and retrieval systems (AS / RS) equipment.

[0021] Figure 4 This is a schematic diagram of the device mirror closure and collaborative correction.

[0022] Figure 5 A comprehensive comparison chart of equipment resource release timing and timing deviation.

[0023] Figure 6 A comparison diagram of handover blockage expansion and two-way evidence before and after screening candidate device control actions. Detailed Implementation

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0026] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0027] Reference Figures 1-6 This is one embodiment of the present invention, which provides an intelligent control method for equipment based on an automated storage and retrieval system (AS / RS), comprising the following steps: S1. Collect task status and equipment operation data of automated warehouse to form a warehouse equipment status stream.

[0028] When collecting task status and equipment operation data for automated storage and retrieval systems (AS / RS), the system reads currently pending and executing warehousing tasks from the task table of the warehouse management system. Based on the task number, it extracts the current location of goods, the target storage location, and the target outbound handover location. The current location of goods is updated by combining the inventory location recorded by the warehouse management system with feedback from conveyor line photoelectric detection, barcode scanning, or equipment retrieval and placement. The target storage location is obtained from the storage location allocation record of the inbound task, and the target outbound handover location is obtained from the outbound exit location configured in the outbound task. Based on the task number and the equipment execution feedback in the warehouse control system, the system maps the most recently completed equipment action and the currently executing equipment action to the corresponding positions in the task resource action chain to determine the current execution node. The system also periodically reads the stacker crane and conveyor system data via industrial Ethernet. The status frames reported by the controllers of the conveying equipment, lifting equipment, and shuttle equipment include the current position of the equipment obtained by the equipment encoder, position sensor, or internal position register of the controller; the remaining time of the current action is determined based on the start time of the current action recorded by the controller, the equipment running progress, and the standard action duration; and the equipment occupancy status is determined based on the current task number, cargo detection status, and action execution status. When the equipment is bound to a storage task but the goods handover has not yet been completed, it is recorded as an occupied state. After the goods handover is completed and the current task releases the equipment from occupancy, it is recorded as a released state. The automated warehouse task status and equipment operation data are written into the data record of the same scheduling cycle according to the unified task number, equipment number, and collection time, providing input for the timing correction of the warehouse equipment status stream and the verification of equipment handover relationships.

[0029] Based on the task number corresponding to the same goods, the equipment occupancy status of adjacent equipment is continuously read. When the preceding equipment changes from an occupied state to a released state, the time of occupancy release is recorded. When the following equipment changes from a released state to an occupied state, the time of occupancy establishment is recorded. The same goods handover is matched according to the flow direction of the goods from the current position to the target storage location or the target outbound handover location. The order of occupancy release of the preceding equipment and occupancy establishment of the following equipment are correlated. The handover sequence between each adjacent equipment is continuously checked along the goods flow process to determine the order of equipment handover when the same goods pass through each equipment.

[0030] By checking whether the recorded times of the status frames of each device match the actual flow order of goods using the order of device handover, when the time of occupancy establishment recorded by the subsequent device is earlier than the time of occupancy release recorded by the preceding device, the recording time of the corresponding device status frame is corrected according to the time advance or time lag that repeatedly appears in the continuous handover records of the same device, so that the occupancy release and occupancy establishment in each device status frame maintain the actual handover order; the status frames of each device are arranged according to the corrected recording time and the flow order of goods, and the occupancy release and occupancy establishment status of the same goods between adjacent devices are retained, generating evidence of device handover timing.

[0031] Using equipment handover timing evidence, the task status and equipment operation data of the automated warehouse are matched according to the task number. The timing connection between the current execution node and the occupancy status of adjacent equipment is checked one by one along the cargo flow sequence. When the equipment position and the task execution position corresponding to the equipment occupancy status reflected by the later arriving equipment status frame are earlier than the confirmed current execution node, the corresponding equipment status frame is identified as a late status that causes the current execution node to revert and is removed. The equipment status frames that do not cause the current execution node to revert are arranged in the order of the equipment handover timing evidence. The current cargo position, current execution node, current equipment position, remaining time of current action and equipment occupancy status are continuously organized according to the cargo flow process to form a warehouse equipment status flow.

[0032] S2. Utilize the warehouse equipment state flow to decompose the task execution process and deduce the entry and release times of equipment resources to form a equipment spatiotemporal occupancy chain. Then, trace the resource release conditions of downstream equipment in reverse and propagate the handover blockage impact upstream to generate an equipment handover blockage propagation graph.

[0033] Starting from the current execution node and the current location of goods in the warehouse equipment state flow, the inbound task determines its endpoint according to the flow direction from the current location of goods to the target storage location, and the outbound task determines its endpoint according to the flow direction from the current location of goods to the target outbound handover location. The equipment resources involved in handling and handover are determined sequentially along the goods flow relationship. The start and end range of each equipment resource's participation in task execution is divided based on the equipment occupancy status. When the same equipment resource continuously undertakes multiple equipment actions and the equipment occupancy status remains occupied, the continuous equipment actions are grouped into the same equipment resource occupancy process. When the equipment occupancy status changes from occupied to released and the next equipment resource establishes occupancy, the adjacent equipment resource occupancy processes are divided based on the goods handover location. The equipment resource occupancy processes are connected according to the goods flow sequence to generate a task resource action chain.

[0034] The sequence of each equipment resource is determined based on the task resource action chain, and the current position of the equipment, the remaining time of the current action, and the equipment occupancy status in the warehouse equipment state flow are mapped to the occupancy process of each equipment resource. For equipment resources already occupied at the current execution node, the time when the equipment occupancy status is established is taken as the entry time, and the release time is determined based on the remaining time of the current action. For equipment resources that have not yet been entered, the equipment occupancy status is first determined. When the equipment resource is in the release state, the release time of the previous equipment resource is taken as the entry time. When the equipment resource is in the occupancy state, the later of the release time of the previous equipment resource and the current occupancy end time is taken as the entry time. Then, the release time is determined by combining the standard action duration required for the equipment resource to undertake the corresponding equipment action. The deduction of entry and release times is executed step by step according to the task resource action chain, and the release time of the previous equipment resource is connected with the entry time of the next equipment resource. This ensures that the occupancy sequence of each equipment resource is maintained continuously during the process of goods moving from the current execution node to the task endpoint, forming a spatiotemporal occupancy chain of equipment.

[0035] It should be noted that the equipment spatiotemporal occupancy chain is used to reflect the actual occupancy sequence and time connection relationship of goods among continuous equipment resources, so that the entry time and release time of each equipment resource have sequential constraints, providing a time sequence basis for judging whether downstream resources can be released on time and whether the handover blockage propagates upstream.

[0036] The release time and occupancy status of each downstream device resource are checked step by step from the end of the task to the current execution node along the device spatiotemporal occupancy chain. The handover position status between adjacent device resources is also checked to see if the goods can continue to be transferred forward. When the downstream device resource has reached the release time and the device occupancy status changes from occupied to released, and the handover position is in an idle state, it is determined that the downstream device resource meets the resource release condition. When the downstream device resource is still occupied or the handover position is not yet idle, the release restriction of the downstream device resource on the previous level device resource is retained. The device resources in the device spatiotemporal occupancy chain are continuously checked in reverse to the current execution node according to their order. The time when each downstream device resource meets the resource release condition and the restriction status formed by not meeting the resource release condition are continuously associated to form the downstream release constraint.

[0037] It should be noted that the resource release condition is the condition under which downstream equipment resources can continue to accept goods, determined based on the release time in the equipment spatiotemporal occupancy chain and the equipment occupancy status and handover position status in the warehouse equipment status flow.

[0038] Based on the downstream release constraints, the time when each downstream device meets the resource release conditions is obtained level by level, and compared with the expected release time of the adjacent upstream device in the device spatiotemporal occupancy chain. When the time when the downstream device meets the resource release conditions is later than the expected release time of the upstream device, it is determined that the upstream device needs to continue to occupy between the two, and the time interval between the two is determined as the handover blocking duration. At the same time, the release time of the upstream device is postponed to the time when the downstream device meets the resource release conditions. Then, the comparison is repeated level by level along the device spatiotemporal occupancy chain to the current execution node. When the postponed release time is still later than the expected release time of the previous level upstream device, the handover blocking effect continues to be passed to the previous level upstream device, and the handover blocking duration of the previous level upstream device is determined simultaneously, until the postponed release time is no longer later than the expected release time of the previous level upstream device or reaches the current execution node. The device resources, handover blocking duration, and the transmission order of the handover blocking effect are continuously recorded to form the device handover back pressure state.

[0039] It should be noted that the equipment handover back pressure state is used to indicate a continuous occupancy state formed when downstream equipment resources cannot be released at the expected time, and the handover blockage effect is passed up the equipment spatiotemporal occupancy chain to upstream equipment resources.

[0040] Based on the back pressure state of equipment handover, the equipment resources affected by the handover blockage, the handover blockage duration of each equipment resource, and the transmission order of the handover blockage impact are extracted. The downstream equipment resource where the handover blockage first occurs is taken as the starting position of the handover blockage impact. Adjacent affected equipment resources are sequentially associated according to the transmission order of the handover blockage impact from downstream to upstream. When the release time of the downstream equipment resource is postponed, causing the adjacent upstream equipment resource to be unable to release at the expected release time, the handover blockage transmission relationship between the downstream equipment resource and the adjacent upstream equipment resource is retained, and the handover blockage duration corresponding to the adjacent upstream equipment resource is associated. The process continues to check step by step along the equipment spatiotemporal occupancy chain to the current execution node. When the postponed release time is no later than the expected release time of the adjacent upstream equipment resource, the association stops. The handover blockage transmission relationship between the affected equipment resources and adjacent affected equipment resources is organized according to the transmission order of the handover blockage impact, and an equipment handover blockage propagation graph is generated.

[0041] It should be noted that the equipment handover congestion propagation diagram is used to reflect the transmission range, sequence, and duration of the congestion impact from downstream equipment resources to upstream equipment resources, providing a basis for locating the source of the handover congestion, determining the range of affected equipment resources, and screening subsequent executable equipment control actions.

[0042] S3. Use the equipment handover blockage propagation diagram to perform forward shadow extrapolation of the control actions of candidate equipment and track the step-by-step release status of equipment resources along the cargo flow direction to generate first equipment release evidence data; extrapolate the continuous resource occupation and the upstream extension process of handover blockage from the downstream restricted position in the equipment handover blockage propagation diagram to generate second equipment retention counter-evidence data; input the first equipment release evidence data and the second equipment retention counter-evidence data into the equipment control mirror closure model, and perform step-by-step closure verification of the forward resource release process and the reverse resource retention process to output the equipment collaborative control command chain.

[0043] Based on the handover blockage propagation relationship between affected equipment resources and adjacent affected equipment resources in the equipment handover blockage propagation diagram, the equipment resources involved in the candidate equipment control actions are determined, and the corresponding handover positions are determined by combining the connection order of adjacent equipment resources in the equipment spatiotemporal occupancy chain. Taking the current equipment occupancy state recorded in the warehouse equipment state flow as the starting state, the current equipment occupancy state involving equipment resources and handover positions is copied and saved separately, and a local shadow execution branch separate from the real equipment state is established. The state changes in the local shadow execution branch only affect the copied current equipment occupancy state and are not written to the real equipment state. According to the execution order of the candidate equipment control actions, the candidate equipment control actions are associated with the corresponding equipment resources and handover positions in the local shadow execution branch one by one, and the local shadow execution branch is updated according to the state changes caused by the candidate equipment control actions on equipment resource occupancy, equipment resource release and handover position occupancy. The current equipment occupancy state and handover position state before and after the execution of each candidate equipment control action are continuously retained to generate the candidate action shadow state.

[0044] It should be noted that candidate equipment control actions are determined based on the current execution node before forward shadow simulation. These actions are then combined with the sequence of equipment resources in the equipment spatiotemporal occupancy chain and the current equipment occupancy status to select the equipment actions to be executed that can continue to move goods to the target storage location or the target outbound handover location. The corresponding relationships between each equipment action to be executed and the corresponding equipment resources and handover locations are established. The candidate action shadow state refers to the simulated operating state formed by the occupancy status, release status, and handover location status of each relevant equipment resource after the candidate equipment control action is executed in a local shadow execution branch isolated from the actual equipment state.

[0045] Based on the shadow state of candidate actions, starting with the cargo state corresponding to the current execution node, the equipment resources and handover positions involved in the candidate equipment control actions are determined sequentially according to the cargo flow direction. The candidate equipment control actions are then applied to the local shadow execution branches level by level. When the downstream equipment resource is in a released state and the adjacent handover position is in an idle state, it is determined that the downstream equipment meets the receiving conditions. The cargo state is migrated from the upstream equipment resource to the downstream equipment resource. At the same time, the downstream equipment resource is updated to an occupied state and the upstream equipment resource is updated to a released state. A resource release certificate is formed based on the change of the upstream equipment resource from an occupied state to a released state. The resource release certificate is returned to the previous level upstream equipment resource to confirm that the previous level upstream equipment resource has the conditions to continue to be released. Subsequently, the candidate equipment control actions are executed level by level along the cargo flow direction in the same way, and resource release certificates are continuously generated. When the downstream equipment resource is still in an occupied state or the handover position is not in an idle state, the cargo state is not migrated and no corresponding resource release certificate is formed. The further deduction of the current candidate equipment control action is stopped. The formation process of the resource release certificate is continuously recorded according to the order in which each equipment resource changes from an occupied state to a released state, forming the equipment resource release trajectory.

[0046] It should be noted that the acceptance condition is determined based on the downstream equipment resource occupancy status and the adjacent handover position status in the candidate action shadow state, which determines that the downstream equipment can continue to accept goods. When the downstream equipment resources are in the released state and the adjacent handover position is in the idle state, it is determined that the acceptance condition is met.

[0047] Using the equipment resource release trajectory, the process of each equipment resource changing from an occupied state to a released state is checked step by step according to the cargo flow sequence. Equipment resources that have formed resource release certificates are identified as released equipment resources, and the next equipment resource is checked to see if it can form a resource release certificate. When resource release certificates are formed continuously between adjacent equipment resources, the equipment resource release process continues to extend downstream. When a certain equipment resource fails to form a resource release certificate, the equipment resource where the resource release certificate formation stops and the corresponding handover position are identified as the resource release certificate interruption position. According to the candidate action shadow state, the occupancy status of the downstream equipment resources and the status of the adjacent handover positions corresponding to the resource release certificate interruption position are checked. If the downstream equipment resource is still occupied, the corresponding downstream equipment resource is identified as the handover blockage source. If the adjacent handover position is not in an idle state, the corresponding handover position is identified as the handover blockage source. The release status, resource release certificate formation, resource release certificate interruption position and handover blockage source of each equipment resource are arranged according to the cargo flow sequence to obtain the equipment release verification sequence.

[0048] The equipment resources participating in the equipment release verification are determined item by item according to the cargo flow sequence using the equipment release verification sequence. The expected release time of each equipment resource in the equipment spatiotemporal occupancy chain is compared with the shadow release time formed by forward shadow extrapolation to obtain the degree of deviation of the release time of each equipment resource. The degree of deviation of the release time is processed into a dimensionless form by using the fluctuation scale of the actual release time of each equipment resource during recent normal operation relative to the expected release time. The degree of deviation of the release time is converted into the degree of consistency of release time sequence through natural exponential decay. At the same time, it is corrected in combination with the formation of resource release vouchers in the equipment release verification sequence. If resource release vouchers have been formed, the corresponding degree of consistency of release time sequence is retained. If resource release vouchers have not been formed, the release evidence of the corresponding equipment resource is recorded as invalid. The release evidence of each equipment resource participating in the equipment release verification is multiplied together and geometrically averaged according to the total number of equipment resources participating in the equipment release verification to obtain the equipment resource release evidence index.

[0049] The Equipment Resource Release Evidence Index is used to determine the continuous release capability of equipment resources under the control actions of candidate equipment. The higher the Equipment Resource Release Evidence Index, the closer the shadow release time of each equipment resource is to the expected release time and the more continuously the resource release certificate is formed along the direction of cargo flow. The stronger the continuous release capability of equipment resources under the control actions of candidate equipment. When the Equipment Resource Release Evidence Index decreases, it indicates that the shadow release time of some equipment resources deviates from the expected release time or the formation process of resource release certificate is interrupted. When any key equipment resource fails to form a resource release certificate, it is determined that the control action of candidate equipment cannot maintain the continuous release of equipment resources. The equipment release verification sequence, the comparison of the release time of each equipment resource, the formation of resource release certificate, and the Equipment Resource Release Evidence Index are associated according to the cargo flow order to generate the first equipment release evidence data.

[0050] It should be noted that the first equipment release evidence data is used to reflect whether the resources of each equipment can continuously form resource release certificates and maintain continuous release according to the expected time sequence under the control action of the candidate equipment. It is used to quantify the continuous release capability of equipment resources and provide positive evidence for the subsequent screening of executable candidate equipment control actions by the equipment control mirror closure model.

[0051] For example, goods flow through "conveyor equipment → lifting equipment → stacker crane". The expected release times of the three equipment resources are 10 seconds, 18 seconds, and 30 seconds, respectively. The shadow release times obtained by forward shadow extrapolation are 10.4 seconds, 18.8 seconds, and 31.5 seconds, respectively, and all three equipment resources form resource release certificates. If the release time fluctuation scale of the three equipment resources during recent normal operation is 1 second, 1.5 seconds, and 2 seconds, respectively, the equipment resource release evidence index is calculated to be approximately 0.743. This indicates that although there is a certain deviation in the release time of the candidate equipment control action, the equipment resources can still be released continuously. The purpose of this operation is to verify both "whether the release is timely" and "whether the release is continuous" before actually executing the candidate equipment control action, avoiding misjudgment based solely on the expected release time. For example, if the stacker crane cannot receive the goods, resulting in the third equipment resource not forming a resource release certificate, the equipment resource release evidence index drops directly to 0, which can identify in advance the risk of continuous release interruption in the candidate equipment control action.

[0052] like Figure 5 The chart shows a comprehensive comparison of equipment resource release times and timing deviations. In the continuous equipment resource handover process consisting of conveyor 1, lifting equipment 1, conveyor 2, shuttle equipment 1, conveyor 3, and stacker crane 1, the expected release times of the six equipment resources are 10 seconds, 18 seconds, 26 seconds, 34 seconds, 42 seconds, and 54 seconds, respectively. The shadow release times obtained by forward shadow extrapolation are approximately 10.8 seconds, 19.4 seconds, 28.1 seconds, 36.6 seconds, 45.7 seconds, and 58.9 seconds, respectively. The shadow timing deviations relative to the expected release times were 0.8 seconds, 1.4 seconds, 2.1 seconds, 2.6 seconds, 3.7 seconds, and 4.9 seconds, respectively. After the actual execution of the control actions for the same candidate devices, the actual release times of each device resource were approximately 11.2 seconds, 20.1 seconds, 29.3 seconds, 38.4 seconds, 47.8 seconds, and 61.2 seconds, respectively, with actual timing deviations relative to the expected release times of 1.2 seconds, 2.1 seconds, 3.3 seconds, 4.4 seconds, 5.8 seconds, and 7.2 seconds, respectively. Figure 5 It can be seen that as goods flow through the equipment resources level by level, both the shadow timing deviation and the actual timing deviation show a gradually increasing trend. Among them, the shadow timing deviation of stacker crane 1 reaches 4.9 seconds, and the actual timing deviation reaches 7.2 seconds. This indicates that the forward shadow extrapolation can reflect the cumulative trend of equipment resource release timing deviation before the actual execution of the candidate equipment control action. At the same time, the shadow release time is always located between the expected release time and the actual release time, indicating that the equipment resource release trajectory can form an early characterization of the subsequent actual resource release deviation, providing experimental evidence for the quantification of the equipment resource release evidence index to assess the continuous release capability of equipment resources under the candidate equipment control action.

[0053] The expression for the evidence index of resource release of computing equipment is: ; in, Indicates an index representing evidence of equipment resource release; This indicates the total number of device resources involved in the device resource release verification during the positive shadow simulation process of the current candidate device control action; This indicates the device resource number that participated in the device release verification during the forward shadow simulation; Indicates the first The resource release certificate generation status of each device resource is set to 1 when a resource release certificate is generated and 0 when no certificate is generated. Represents the natural exponential function; Indicates the first The moment when a device resource is released in the forward shadow deduction; Indicates the first The expected release time of each piece of equipment resource; Indicates the expected state; Indicates the first The fluctuation scale of the actual release time of individual equipment resources relative to the expected release time during recent normal operation; It represents the minimum positive time resolution under a unified time base for the status of warehouse equipment, used to avoid invalid denominators caused by zero time fluctuation scale, and its dimension is time.

[0054] It should be noted that, due to , , and Both are time quantities, and the exponent is dimensionless; therefore: 0 ≤ ≤1, The closer the value is to 1, the better it indicates that each device resource can continuously generate release certificates according to the expected timing under the candidate device control action; if any critical device resource fails to generate a release certificate, the corresponding... =0, then =0.

[0055] According to the transmission order of the handover blockage effect from downstream to upstream in the equipment handover blockage propagation diagram, the affected equipment resources are checked starting from the starting position of the handover blockage effect. The downstream equipment resource position where the release time is first delayed and causes the adjacent upstream equipment resource to be unable to release at the expected release time is determined as the position of the first downstream equipment resource where the handover blockage occurs. Then, the handover blockage propagation direction recorded in the equipment handover blockage propagation diagram is traced upstream level by level. Equipment resources that have a handover blockage transmission relationship with the position of the first downstream equipment resource where the handover blockage occurs are extracted in sequence until the handover blockage effect stops continuing to propagate upstream, thus determining the affected upstream equipment resources.

[0056] Taking the downstream device resource location where the handover blockage first occurs and the affected upstream device resources as the scope, the current device occupancy state of the corresponding device resources in the warehouse device state flow is copied, and the sequential association of each device resource is maintained according to the handover blockage propagation relationship in the device handover blockage propagation graph. A reverse shadow execution branch separate from the real device state is established on the copied current device occupancy state. The state changes in the reverse shadow execution branch only affect the copied current device occupancy state and are not written to the real device state. The occupancy restriction state of the downstream device resource location where the handover blockage first occurs and the current device occupancy state of each affected upstream device resource are retained, and a restricted location reverse shadow state is generated.

[0057] It should be noted that the restricted location reverse shadow state refers to an independent state copy formed by replicating the current equipment occupancy state of the downstream equipment resources and the affected upstream equipment resources, starting from the location of the downstream equipment resource where the handover blockage first occurs. This is used to reverse-engineer the process of the handover blockage extending upstream without changing the actual equipment state.

[0058] Using the reverse shadow state of restricted locations, the location of the downstream equipment resource where the handover blockage first occurs is used as the starting point for reverse inference. The occupancy restriction state of the downstream equipment resource remains unchanged, and the affected upstream equipment resources are checked level by level along the direction of equipment handover blockage propagation. When the downstream equipment resource still cannot accept the goods, the expected resource release of the adjacent upstream equipment resource is canceled according to the equipment spatiotemporal occupancy chain, and the adjacent upstream equipment resource continues to be occupied. The release time of the adjacent upstream equipment resource is re-determined according to the time when the downstream equipment resource meets the resource release conditions. The re-determined release time is continued to be passed to the previous level upstream equipment resource. When the re-determined release time causes the previous level upstream equipment resource to be unable to release at the expected release time, the expected resource release of the previous level upstream equipment resource is also canceled and the equipment resource is kept continuously occupied until the handover blockage effect no longer continues to expand or reaches the current execution node. The continuously occupied equipment resources, expected release time, and re-determined release time are continuously recorded according to the handover blockage expansion order to form the equipment stagnation expansion trajectory.

[0059] It should be noted that the equipment retention and expansion trajectory refers to a time-series record formed by continuously recording the continuous occupation and release time of each affected equipment resource in the order of the handover blockage from downstream to upstream. It is used to reflect the scope and expansion process of equipment resource retention caused by the handover blockage.

[0060] Based on the equipment stagnation and expansion trajectory, continuously occupied equipment resources are checked step by step according to the propagation direction of the handover blockage from downstream to upstream. The expected release time and the re-determined release time of each continuously occupied equipment resource are compared. When the re-determined release time is later than the expected release time, it is determined that the equipment resource is still affected by the handover blockage and continues to be occupied. The equipment resource is included in the continuous occupation range and the upstream check continues. When the re-determined release time is no longer later than the expected release time, the corresponding equipment resource is determined as the equipment resource that has resumed normal resource release. The stagnation and expansion boundary is determined by the location of the equipment resource that has resumed normal resource release. The continuous occupation status, expected release time and re-determined release time of each equipment resource within the stagnation and expansion boundary are arranged according to the propagation order of the handover blockage, and the stagnation and expansion boundary is marked to obtain the equipment stagnation verification sequence.

[0061] It should be noted that the equipment retention verification sequence refers to the time-series verification record formed by continuously arranging the continuous occupancy status, expected release time, re-determined release time, and retention expansion boundary of each affected equipment resource according to the handover blockage propagation sequence. It is used to determine the scope and duration of equipment resource retention caused by handover blockage.

[0062] Based on the equipment retention verification sequence, the expected release time and the re-determined release time of each equipment resource are checked item by item. The length of time that the re-determined release time is later than the expected release time is determined as the continuous occupation time of the corresponding equipment resource. The propagation order of the handover blockage is used to determine whether the handover blockage has extended to the corresponding equipment resource. The actual range of equipment resources to which the handover blockage has extended is statistically analyzed to determine the degree of handover blockage extension. The continuous occupation time is then dimensionlessized using the fluctuation scale of the release time during the normal handover process of each equipment resource. The dimensionless continuous occupation time is averaged and squared to reflect the overall continuous occupation degree of the affected equipment resources. The overall continuous occupation degree is combined with the degree of handover blockage extension, and the equipment retention counter-evidence index is calculated through natural exponential decay transformation.

[0063] The Equipment Retention Contrast Index is used to determine the extent to which the handover congestion continues to extend to upstream equipment resources. The larger the Equipment Retention Contrast Index, the more equipment resources are affected by the handover congestion, and the more obvious the degree to which the affected equipment resources continue to be occupied after exceeding the expected release time. The higher the degree to which the handover congestion continues to extend to upstream equipment resources. The smaller the Equipment Retention Contrast Index, the smaller the scope of the handover congestion and the weaker the degree of continuous occupation. The Equipment Retention Verification Sequence, the duration of continuous occupation of each equipment resource, the degree of handover congestion extension, and the Equipment Retention Contrast Index are correlated according to the propagation order of the handover congestion to generate the second Equipment Retention Contrast Data.

[0064] It should be noted that the second piece of equipment retention counter-evidence data is used to reflect the extent to which downstream handover blockage causes continuous occupation of equipment resources and extends to upstream equipment resources. It can quantify the resource retention risk that may be caused by the control actions of candidate equipment, and provide counter-evidence for verifying the executability of the control actions of candidate equipment from the reverse perspective of the equipment control mirror closure model.

[0065] For example, in an automated storage and retrieval system (AS / RS), goods flow in the order of "conveyor → lifting equipment → shuttle equipment → stacker crane." The expected release times for the four equipment resources are 12 seconds, 20 seconds, 28 seconds, and 36 seconds, respectively. Reverse shadow analysis reveals that the downstream handover position of the stacker crane cannot be cleared temporarily, causing the stacker crane to be unable to release at 36 seconds. The rescheduled release time is 40 seconds, with a continuous occupation time of 4 seconds. As the handover obstruction continues to propagate upstream, the shuttle equipment's release time is delayed from the expected 28 seconds to 31 seconds, with a continuous occupation time of 3 seconds; the lifting equipment's release time is delayed from the expected 20 seconds to 22 seconds, with a continuous occupation time of 2 seconds; the conveyor equipment can still release normally at the expected 12 seconds, so the handover obstruction does not continue to extend to the conveyor equipment. Therefore, three of the four equipment resources involved in the equipment retention verification are affected by the handover obstruction, and the equipment retention extension boundary is located between the lifting equipment and the conveyor equipment.

[0066] The fluctuation scales of release time during normal handover of stacker cranes, shuttle equipment, lifting equipment, and conveying equipment are 2 seconds, 1.5 seconds, 1 second, and 1 second, respectively, with a minimum positive time resolution of 0.1 seconds. When handover congestion extends to the first three equipment resources, the handover congestion extension state of the first three equipment resources is assigned as 1, and that of the conveying equipment as 0. Calculated using the equipment retention counter-evidence index, the equipment retention counter-evidence index is approximately 0.702. An equipment retention counter-evidence index of 0.702 indicates that the current downstream handover congestion not only causes delayed release of a single stacker crane but has also continuously affected the shuttle equipment and lifting equipment upstream, representing a relatively obvious equipment resource retention extension state.

[0067] The expression for the counter-evidence index of equipment stagnation is: ; in, Indicates the equipment retention counter-evidence index; This indicates the total number of equipment resources at the current downstream restricted location that participated in the equipment retention verification during the reverse shadow simulation process; This indicates the serial number of the equipment resource involved in the equipment retention verification during the reverse shadow simulation; Indicating the first inverse shadow deduction The handover congestion extension state of the device resources, the handover congestion extension to the [number]th [device]. When the resource of a device is used, 1 is taken; it is not extended to the first device. When using individual device resources, take 0; Indicates the first The duration during which a device resource remains occupied even after the expected release time has passed; Indicates the first The fluctuation scale of release time during the normal handover of equipment resources.

[0068] It should be noted that the Equipment Detention Evidence Index considers both the number of equipment resources affected by the handover congestion and the degree of continuous occupancy of each affected equipment resource; the more equipment resources the handover congestion extends to, and the longer the fluctuation scale of the continuous occupancy time relative to the normal release time, the larger the Equipment Detention Evidence Index, indicating a more significant degree of upstream extension of the handover congestion; because , and All use the same time unit, and the ratio is a dimensionless quantity; therefore, equipment stagnation contradicts the index. It is also a dimensionless quantity, and its range is 0 ≤ <1.

[0069] After the evidence data of the first equipment release and the counter-evidence data of the second equipment retention are sent into the equipment control mirror closure model, the equipment control mirror closure model establishes a positive and negative correspondence relationship item by item according to the equipment resources and handover positions. From the evidence data of the first equipment release, it retains the formation status of resource release certificates, the expected release time, and the shadow release time of the same handover position. From the counter-evidence data of the second equipment retention, it retains the continuous occupancy status of the same handover position, the re-determined release time, and the handover blockage expansion status. The equipment control mirror closure model aligns the states on both sides according to the unified time base of the warehouse equipment status. It maps the process of "equipment resources can be released" in the forward shadow deduction and the process of "equipment resources continue to be retained" in the reverse shadow deduction to the same equipment resource and the same handover position. This makes each handover position have both a positive release state and a negative retention state at the same time. Thus, the originally independent evidence data of the first equipment release and the counter-evidence data of the second equipment retention are converted into a mirror relationship that can be directly verified position by position. The positive release state, negative retention state, and corresponding time of each equipment resource and handover position are arranged according to the cargo flow order to form an equipment mirror verification sequence.

[0070] The role of the device control mirror closure model is to not rely directly on a single forward release judgment or a single reverse retention judgment, but to simultaneously check "whether the resource can be released" and "whether the blockage will reverse and occupy the resource" at the same physical handover position. This provides a unified verification basis for determining whether the forward resource release truly offsets the reverse resource retention, locating the real closure breakpoint, and screening executable candidate device control actions.

[0071] like Figure 6The diagram shows the handover blockage expansion and bidirectional evidence comparison before and after candidate device control action screening. When the downstream restricted duration gradually increases from 0 seconds to 600 seconds, the average number of actual affected device resources under the condition of direct execution without screening increases from approximately 1.8 to 16.0. When only positive shadow deduction is used for execution, the number increases from approximately 1.7 to 10.6. However, when the first device release evidence data and the second device retention counter-evidence data are verified step by step and the device control mirror closure model is used for screening and execution, the average number of actual affected device resources increases from approximately 1.6 to 6.7. Taking a downstream restricted duration of 300 seconds as an example, the average number of actual affected device resources corresponding to direct execution without screening, execution only positive shadow deduction, and execution after screening according to the present invention are approximately 8.6, 6.4, and 4.5, respectively. Execution after screening according to the present invention reduces the number of affected devices by approximately 47.7% compared to direct execution without screening. Meanwhile, as the duration of downstream confinement increased, the evidence index for equipment resource release gradually decreased from approximately 0.92 to 0.07, while the evidence index for equipment retention gradually increased from approximately 0.09 to 0.93. Specifically, when the duration of downstream confinement increased from 240 seconds to 300 seconds, the evidence index for equipment resource release decreased from approximately 0.54 to 0.42, while the evidence index for equipment retention increased from approximately 0.47 to 0.58. The bidirectional evidence relationship underwent a significant shift in this range, indicating that the continuous release capability of equipment resources was weaker than the risk of the handover blockage continuing to extend upstream. When the duration of downstream confinement reached 600 seconds, the process implemented after screening in this invention... The average number of actually affected equipment resources was approximately 6.7, a decrease of about 58.1% compared to 16.0 directly executed without screening, and a decrease of about 36.8% compared to 10.6 executed only after positive shadow extrapolation. This indicates that inputting the evidence data of the first equipment release and the counter-evidence data of the second equipment retention into the equipment control mirror closure model for step-by-step closure verification can avoid the erroneous release of candidate equipment control actions based solely on a single positive release state, and reduce the range of handover blockage continuously expanding upstream along the equipment resources. This verifies the role of authentic closure breakpoint location and screening of executable candidate equipment control actions in improving the accuracy of equipment handover control.

[0072] The process of constructing the device control mirror closed model is as follows: The dual-evidence input layer receives first equipment release evidence data and second equipment retention counter-evidence data. It systematically organizes the resource release certificate formation, expected release time, shadow release time, and equipment resource release evidence index from the first equipment release evidence data according to equipment resources. Simultaneously, it organizes the continuous occupancy status, re-determined release time, handover obstruction expansion, and equipment retention counter-evidence index from the second equipment retention counter-evidence data, retaining the handover location of each data item. Using the same equipment resources and the same handover location as common matching conditions, it searches for data belonging to the same equipment resource in the first equipment release evidence data and the same equipment retention counter-evidence data. For records of the same equipment resource located at the same handover location, a one-to-one association is established between the formation of the resource release certificate, the expected release time and the shadow release time, the continuous occupancy status, the re-determined release time and the handover blockage expansion status. When both the first equipment release evidence data and the second equipment retention counter-evidence data have the same equipment resource and handover location, a two-way evidence correspondence relationship is established. When neither side has the same equipment resource and handover location, no two-way evidence correspondence relationship is established, forming a two-way evidence correspondence relationship that can simultaneously verify the forward resource release process and the reverse resource retention process at the same equipment resource and handover location.

[0073] The mirrored time-series mapping layer, based on the bidirectional evidence correspondence, determines the formation time of resource release certificates and the arrival time of retention effects according to the same equipment resources and handover locations. Specifically, the formation time of resource release certificates is taken from the moment when the equipment resource changes from an occupied state to a released state and forms a resource release certificate during the positive shadow deduction in the first equipment release evidence data. The arrival time of retention effects is taken from the moment when the downstream handover blockage causes the expected resource release of the corresponding equipment resource to be revoked and begin continuous occupation during the reverse shadow deduction in the second equipment retention counter-evidence data. The time scale of the formation time of resource release certificates and the arrival time of retention effects are unified according to the unified time base of the warehouse equipment status. At each equipment handover location, the order of the formation time of resource release certificates and the arrival time of retention effects is compared. If the formation time of resource release certificates is earlier than the arrival time of retention effects, it indicates that the positive resource release has been established first. If the arrival time of retention effects is earlier than or equal to the formation time of resource release certificates, it indicates that the reverse resource retention has already restricted resource release. This creates a time-series correspondence at each equipment handover location that simultaneously reflects the positive release state and the reverse retention state.

[0074] The closure degree calculation layer, based on the temporal correspondence formed by the mirrored temporal mapping layer, compares the resource release certificate formation time, the expected release time, and the arrival time of the retention effect at each equipment handover location. The time deviation between the resource release certificate formation time and the expected release time is dimensionless according to the fluctuation scale of the release time during the normal handover of resources for the corresponding equipment, yielding the resource release time difference, which reflects the degree of deviation of the forward resource release from the expected time. Similarly, the time interval between the arrival time of the retention effect and the resource release certificate formation time is dimensionless according to the fluctuation scale of the release time during the normal handover of resources for the same equipment, yielding the retention effect time difference, which reflects the time difference between the arrival time of reverse resource retention at the equipment handover location and the forward resource release. The relationship is as follows: compare the time difference of resource release and the time difference of retention impact at the same equipment handover location, and combine the equipment resource release evidence index in the first equipment release evidence data and the equipment retention counter-evidence index in the second equipment retention counter-evidence data for unified calculation. When the resource release certificate is formed before the retention impact arrives, the resource release time deviation is small, the equipment resource release evidence index is high and the equipment retention counter-evidence index is low, the equipment mirror closure index increases, indicating that the positive resource release can be established before the reverse resource retention forms a restriction; when the retention impact arrives before the resource release certificate, the resource release time deviation increases, the equipment resource release evidence index decreases or the equipment retention counter-evidence index increases, the equipment mirror closure index decreases, and the degree of closure of each equipment handover location is determined.

[0075] The closure breakpoint verification layer forms a closure judgment state based on the degree of closure of each equipment handover position, and checks each equipment handover position level by level from the current execution node to the task endpoint according to the direction of cargo flow. When the resource release certificate of a certain equipment handover position can be formed before the delay effect arrives and the equipment resource changes from the occupied state to the released state, it is determined that the corresponding equipment handover position maintains the positive resource release, and the next equipment handover position is checked. When the delay effect of a certain equipment handover position arrives earlier than or equal to the time when the resource release certificate is formed, and the second equipment delay counter-evidence data shows that the corresponding equipment resource continues to be occupied, it is determined that the positive resource release of the corresponding equipment handover position is blocked by the reverse resource delay. Then, the closure judgment state of the adjacent upstream equipment handover position is checked. When the adjacent upstream equipment handover position still maintains the positive resource release and the current equipment handover position is blocked by the reverse resource delay for the first time, the current equipment handover position is determined as the real closure breakpoint.

[0076] The collaborative control output layer checks the equipment resources and handover positions involved in each candidate equipment control action based on the actual closure breakpoints determined by the closure breakpoint verification layer. When no actual closure breakpoint appears at any equipment handover position from the current execution node to the task endpoint, the corresponding candidate equipment control action is retained as an executable candidate equipment control action. When an actual closure breakpoint exists at any equipment handover position involved in a candidate equipment control action, the corresponding candidate equipment control action is eliminated to avoid the forward resource release being blocked by the reverse resource retention. The executable candidate equipment control actions are arranged according to the order of goods flow and the order of equipment resources in the equipment spatiotemporal occupancy chain. The resource release certificate formed by the previous level equipment resources and the receiving conditions of the next level equipment are used as the basis for the continued connection of adjacent equipment control actions. The handover control order of each equipment resource is determined in turn, and the executable candidate equipment control actions arranged according to the handover control order are continuously organized to output the equipment collaborative control instruction chain.

[0077] The equipment control mirror closure model connects the dual evidence input layer, mirror time-series mapping layer, closure degree calculation layer, closure breakpoint verification layer, and collaborative control output layer according to the processing sequence of "evidence correspondence - time-series mapping - closure calculation - breakpoint verification - collaborative control". Specifically, the dual evidence input layer uses identical equipment resources and identical handover locations as matching criteria to establish a bidirectional evidence correspondence between the first equipment release evidence data and the second equipment retention counter-evidence data. The mirror time-series mapping layer continues to use identical equipment resources and identical handover locations, aligning the resource release certificate formation time and retention impact arrival time in the bidirectional evidence correspondence according to the unified time benchmark of the warehouse equipment status, forming a time-series correspondence between the handover locations of each equipment. The closure degree calculation layer uses the time-series correspondence between the handover locations of each equipment to calculate the resource release time difference and retention impact time difference, and combines this with the equipment resource release evidence index and equipment... The retention counter-evidence index determines the degree of closure at each equipment handover location; the closure breakpoint verification layer continuously checks the degree of closure and the forward resource release status and reverse resource retention status of each equipment handover location according to the direction of cargo flow, and determines the equipment handover location where the forward resource release is first blocked by the reverse resource retention as the true closure breakpoint; the collaborative control output layer screens executable candidate equipment control actions based on the true closure breakpoints, and determines the equipment handover control order by combining the equipment resource priority relationship in the equipment spatiotemporal occupancy chain, and outputs the equipment collaborative control instruction chain; the data relationship formed by the previous layer directly serves as the basis for the next layer to continue processing. Each layer always maintains a continuous association around the same equipment resources, the same handover location, the same time base, and the cargo flow order, connecting the forward resource release verification, reverse resource retention verification, mirror closure judgment, and equipment collaborative control into a complete processing chain, forming an equipment control mirror closure model.

[0078] The training process for the device control mirror closure model is as follows: Data on normal handover, release delays, and handover blockages during the historical operation of the automated storage and retrieval system (AS / RS) was selected. Based on the actual execution results of the handover tasks, data on whether continuous occupancy occurred at each equipment handover location and the actual handover blockage location were marked. Historical storage tasks were divided into training data and validation data. The equipment control mirror closure model adopted a predetermined structure: a dual-evidence input layer, a mirror timing mapping layer, a closure degree calculation layer, a closure breakpoint verification layer, and a collaborative control output layer. The first equipment release evidence data and the second equipment retention counter-evidence data were used as training data. The actual equipment resource release status and continuous occupancy status of historical storage tasks were also considered. Using the actual handover and congestion locations as training targets, the following initialization methods are employed: First, based on the dispersion of the actual release time relative to the expected release time during normal handover of each device resource in the training data, the fluctuation scale of the actual release time relative to the expected release time during recent normal operation of the device resource, the fluctuation scale of the release time during normal handover of the device resource, and the fluctuation scale of the resource release time during normal handover of the device handover location. Then, a bidirectional evidence correspondence is established between the first device release evidence data and the second device retention counter-evidence data, based on the same device resource and handover location. The time sequence of the resource release certificate formation time and the arrival time of the retention impact is aligned sequentially. The system calculates the equipment resource release evidence index, equipment retention counter-evidence index, resource release time difference, retention impact time difference, and equipment mirror closure index, and determines the true closure breakpoint along the cargo flow direction. The difference between the closure degree reflected by the equipment mirror closure index and the actual equipment resource release status of historical warehousing tasks, as well as the difference between the true closure breakpoint and the actual handover blockage location, are used as training losses. Based on these training losses, the system adjusts the fluctuation scale of the actual release time relative to the expected release time during recent normal equipment resource operation, the fluctuation scale of the release time during normal equipment resource handover, and the resource release rate at normal handover locations. The fluctuation scale of time is adjusted, and the device mirror closure index and the actual closure breakpoint are recalculated using the adjusted parameters. The parameter adjustment and re-verification are performed iteratively. After each training round, the forward shadow inference, backward shadow inference and the step-by-step closure verification of the device control mirror closure model are re-performed using the verification data. When the device mirror closure index in the verification data can stably distinguish between normal handover and handover blocking states, and the actual closure breakpoint is consistent with the actual handover blocking position, and the training loss after continuous training no longer decreases significantly, the training is stopped, and the final fluctuation scale parameters are fixed to obtain the trained device control mirror closure model.

[0079] Using the equipment mirror verification sequence, the handover positions of each piece of equipment are determined item by item according to the cargo flow order. The formation time of the resource release certificate at each equipment handover position is compared with the expected resource release time. The fluctuation scale of the resource release time during normal handover at the corresponding equipment handover position is used for dimensionless processing to obtain the resource release time difference. A negative resource release time difference indicates that the resource is released earlier than expected, a zero resource release time difference indicates that the resource is released at the expected time, and a positive resource release time difference indicates that the resource is released later than expected. The arrival time of the retention effect at each equipment handover position is compared with the formation time of the resource release certificate. The same fluctuation scale of the resource release time during normal handover is used for dimensionless processing to obtain the retention effect time difference. The larger the retention effect time difference, the longer the retention effect arrives after the resource release certificate is formed. When the retention effect time difference decreases and turns negative, it indicates that the retention effect has arrived before the resource release certificate is formed. The release sequence relationship and time deviation between forward resource release and reverse resource retention at each equipment handover position are obtained.

[0080] Based on the resource release timing difference and the retention effect timing difference at each equipment handover location, the difference between the two types of timing differences at the same equipment handover location is obtained. A natural exponential transformation is then used to obtain the closure degree of each equipment handover location. When the resource release timing difference is small and the retention effect timing difference is large, the closure degree of the corresponding equipment handover location increases, indicating that the resource release certificate can be established before the retention effect forms a restriction. When the resource release timing difference increases and the retention effect timing difference decreases, the closure degree of the corresponding equipment handover location decreases, indicating that the possibility of positive resource release being restricted by reverse resource retention increases. Based on the normal handover warehouse task data during the equipment control mirror closure model training process, the normal lower limit of the closure degree of each equipment handover location is statistically determined. The closure degree of each equipment handover location is compared with the corresponding normal lower limit. When the closure degree is lower than the corresponding normal lower limit, the corresponding equipment handover location is marked as a closure failure location; when the closure degree reaches the corresponding normal lower limit, the corresponding equipment handover location is marked as a closure failure location. Mark the effective closure position; calculate the geometric mean of the closure degree of each equipment handover position according to the number of equipment handover positions, and then calculate the equipment mirror closure index by combining the equipment resource release evidence index in the first equipment release evidence data and the equipment retention counter-evidence index in the second equipment retention counter-evidence data. Determine the normal lower limit of the equipment mirror closure index based on the normal handover warehousing task data during the equipment control mirror closure model training process. When the equipment mirror closure index is lower than the normal lower limit, it is determined that the overall closure of the corresponding candidate equipment control action is insufficient. When the equipment mirror closure index reaches the normal lower limit, continue to verify step by step according to the effective closure position and the ineffective closure position of each equipment handover position; associate the resource release time difference, retention impact time difference, closure degree and effective closure position or ineffective closure position of each equipment handover position according to the cargo flow sequence, and associate the equipment mirror closure index and overall closure judgment of the corresponding candidate equipment control actions to form a mirror closure judgment sequence.

[0081] It should be noted that the mirror closure determination sequence is data that records the degree of closure between the forward resource release and the reverse resource retention at each equipment handover location according to the order of cargo flow. It is used to determine whether the resource release can be effectively established before the retention effect forms a limitation, and to identify whether there is a closure failure at each equipment handover location.

[0082] The expression for calculating the resource release timing difference is: ; in, Indicates the first The timing difference of resource release at the handover point of each device; The serial number indicating the equipment handover location; Indicating the first step in forward shadow deduction The moment when the resource release certificate for the handover location of each device is generated; Indicates the first in the device spatiotemporal occupancy chain The expected resource release time at each equipment handover location; Indicates the first The fluctuation scale of resource release time during normal handover of equipment handover locations.

[0083] For dimensionless signed quantities: <0: Resources are released earlier than expected; =0: Resources will be released as scheduled. >0: Resources are released later than expected.

[0084] The expression for calculating the time difference of the effect of retention is: ; in, Indicates the first The delay at the handover point of each device affects the timing difference; This indicates that the handover blockage in the reverse shadow deduction extends to the first... The moment of equipment handover location.

[0085] The expression for calculating the mirror closure index of a device is: ; in, Indicates the device mirror closure index; This indicates the number of device handover locations in the device mirror verification sequence.

[0086] It should be noted that, due to , , and All are dimensionless quantities; therefore, there is no issue of dimension mixing, and: 0 ≤ ≤1.

[0087] When the evidence of resource release is strong, the evidence of equipment retention is weak, and the handover locations of most equipment meet the condition that resource release precedes the impact of retention, A smaller value corresponds to a closure term approaching 1, indicating a higher device mirror closure index; when resource release is significantly delayed and the impact of delays extends prematurely to the device handover location. As the value increases, the corresponding closure term decreases, and the device mirror closure index decreases accordingly.

[0088] Based on the mirror closure judgment sequence, the resource release timing difference, the delay impact timing difference, and the degree of closure are checked step by step from the current execution node to the task endpoint according to the direction of cargo flow. Closure verification is also performed in conjunction with the formation of resource release certificates and the continuous occupancy status. When the formation time of the resource release certificate is earlier than the arrival time of the delay impact and the equipment resource has already changed from an occupied state to a released state, the corresponding equipment handover position is determined to be a valid positive resource release. When the arrival time of the delay impact is earlier than the formation time of the resource release certificate or occurs simultaneously with the formation time of the resource release certificate, and the equipment resource remains in a continuous occupancy state, the corresponding equipment handover position is determined to be valid. For example, if a positive resource release is blocked by a reverse resource blockage, the system continues to check the subsequent equipment handover positions along the cargo flow direction. When the adjacent upstream equipment handover position still maintains a positive resource release and the current equipment handover position is blocked by a reverse resource blockage for the first time, the current equipment handover position is determined as the true closure breakpoint. For equipment handover positions that continue to be blocked by a reverse resource blockage after the true closure breakpoint, only the corresponding closure judgment state is retained, and new true closure breakpoints are not repeatedly determined. The closure judgment states of each equipment handover position are continuously arranged according to the cargo flow order, and the true closure breakpoints are marked to obtain the mirror closure verification sequence.

[0089] It should be noted that the mirror closure verification sequence is data that records the closure judgment status of each equipment handover position and marks the actual closure breakpoint according to the cargo flow sequence. It is used to clarify the specific location where the forward resource release is blocked by the reverse resource retention and the subsequent blockage range, and to provide verification basis for screening executable candidate equipment control actions and determining the equipment handover control sequence.

[0090] Using a mirrored closure verification sequence, each candidate equipment control action is checked against the relevant equipment resources and equipment handover locations. The closure judgment status and actual closure breakpoint markings at the corresponding equipment handover locations are examined along the cargo flow direction. If no actual closure breakpoint is marked at any of the equipment handover locations involved in a candidate equipment control action, the corresponding candidate equipment control action is retained. If an actual closure breakpoint is marked at any equipment handover location, the corresponding candidate equipment control action is eliminated. For the retained candidate equipment control actions, it is checked whether different candidate equipment control actions involve the same equipment resources. If different candidate equipment control actions involve the same equipment resources, the equipment mirrored closure index of the corresponding candidate equipment control actions is compared. The candidate equipment control action with the higher equipment mirrored closure index is retained. When the closure indices are the same, the candidate device control action with the earlier resource release certificate formation time is retained, and the other candidate device control actions on the same device resource are eliminated. When all candidate device control actions are eliminated, the current device occupancy status remains unchanged, and candidate device control actions are regenerated based on the current execution node, device spatiotemporal occupancy chain, and device occupancy status, and mirror closure verification is performed again. When there are retained candidate device control actions, they are sorted according to the order of device resources in the device spatiotemporal occupancy chain and the direction of cargo flow. The formation of resource release certificates by the previous level device resource and the fulfillment of the receiving conditions by the next level device are used as the conditions for the continuation of adjacent device control actions. The candidate device control actions corresponding to each device resource are connected in sequence to generate a device collaborative control instruction chain.

[0091] It should be noted that the equipment collaborative control command chain refers to a sequence of control commands formed by sequentially connecting the control actions of candidate equipment that have been confirmed to be executable after mirror closure verification, according to the order of goods flow, and used to coordinate the continuous handover and execution of various equipment resources.

[0092] S4. Utilize the equipment collaborative control command chain to execute warehousing tasks and locally correct the actions of affected equipment based on actual resource release deviations to obtain a warehouse equipment intelligent control report.

[0093] The warehousing task is executed item by item according to the equipment handover sequence using a collaborative control command chain. The actual resource release time is recorded when each equipment resource transitions from an occupied state to a released state. The actual resource release time is compared item by item with the expected resource release time in the equipment's spatiotemporal occupancy chain to determine the resource release deviation for each equipment resource. When the actual resource release time is later than the expected release time, starting from the equipment resource causing the deviation, the actions of subsequent equipment are checked along the cargo flow direction. Any equipment action whose entry time depends on the release of the preceding equipment resource and is affected by the resource release deviation is identified as an affected equipment action, and the check of subsequent equipment resources continues until the deviation is corrected. The release time no longer affects the entry time of the next equipment resource; when the actual resource release time is earlier than the expected resource release time, the entry time of the subsequent equipment resources is also rechecked according to the time change caused by the early release; for the actions of the affected equipment, the original expected resource release time of the corresponding equipment resource is replaced with the actual resource release time, and the entry time of the subsequent affected equipment resources is re-determined level by level according to the order of equipment resources in the equipment spatiotemporal occupancy chain, and the release time is re-determined in combination with the standard action duration of the corresponding equipment action. The corrected actions of the affected equipment and the entry and release times of the affected equipment resources are arranged according to the order of cargo flow, and a local correction instruction segment is generated.

[0094] Based on the same equipment resources and actions in the equipment collaborative control command chain of the local correction command segment, the corresponding content in the equipment collaborative control command chain is replaced with the corrected entry time, corrected release time, and affected equipment actions in the local correction command segment. The control actions of equipment not included in the scope of affected equipment actions retain the original equipment handover sequence and execution time, forming an updated equipment collaborative control command chain. The updated equipment collaborative control command chain is used to continue to execute the warehousing task according to the cargo flow sequence. When each equipment resource is occupied, handed over, or released, the equipment resource release status is recorded, and the entry time, release time, and execution status of each affected equipment action before and after correction are recorded simultaneously, until the warehousing task reaches the target storage location or the target outbound handover location. The equipment resource release status and equipment action correction status are then linked and organized according to the cargo flow sequence to generate a warehouse equipment intelligent control report.

[0095] In summary, this invention achieves bidirectional independent verification of the continuous release capability of equipment resources and the risk of handover blockage expansion by: performing forward shadow extrapolation of the control actions of candidate equipment and reverse retention extrapolation from the downstream restricted position; and by using an equipment control mirror closure model to perform step-by-step closure verification of the release evidence data of the first equipment and the retention counter-evidence data of the second equipment, it achieves the location of the real closure breakpoint and the screening of executable equipment control actions, thereby improving the accuracy of equipment handover control and reducing ineffective linkage adjustments.

[0096] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for intelligent control of equipment based on automated storage and retrieval systems (AS / RS), characterized in that, include: Collect task status and equipment operation data of automated warehouses to form a warehouse equipment status stream; By deconstructing the task execution process using the state flow of warehouse equipment and deduce the entry and release times of equipment resources, a spatiotemporal occupancy chain of equipment is formed. Then, the resource release conditions of downstream equipment are traced in reverse and the handover blockage impact is propagated upstream to generate an equipment handover blockage propagation graph. The equipment handover blockage propagation diagram is used to perform forward shadow extrapolation of the control actions of candidate equipment and track the step-by-step release status of equipment resources along the cargo flow direction to generate the first equipment release evidence data. The process of continuous resource occupation and the upstream extension of handover blockage is deduced from the downstream restricted position in the equipment handover blockage propagation diagram to generate the second equipment retention counter-evidence data; the first equipment release evidence data and the second equipment retention counter-evidence data are input into the equipment control mirror closed model, and the positive resource release process and the reverse resource retention process are verified step by step to output the equipment collaborative control command chain; The system utilizes a collaborative control command chain to execute warehousing tasks and locally corrects the actions of affected equipment based on actual resource release deviations, thereby generating a warehouse equipment intelligent control report.

2. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 1, characterized in that, The automated warehouse task status includes the current location of the goods, the target storage location, the target outbound handover location, and the current execution node. The device operation data includes the device's current location, remaining time for the current action, and device occupancy status.

3. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 1, characterized in that, The specific steps for forming the warehouse equipment state flow are as follows: The order of equipment handover is determined based on the time of release and establishment of occupation of the same goods between adjacent equipment. The time offset of each equipment status frame is corrected by the order of equipment handover, and the equipment status sequence is unified according to the order of goods flow to generate equipment handover sequence evidence. By using equipment handover sequence evidence to verify the temporal connection between task status and equipment operation data according to the order of goods flow, late states that cause the current execution node to regress are eliminated, forming a warehouse equipment status flow.

4. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 3, characterized in that, The process of deconstructing the task execution process using the state flow of warehouse equipment and deducing the entry and release times of equipment resources to form a spatiotemporal occupancy chain is described in the following steps: By utilizing the warehouse equipment state flow, we can trace the associated equipment resources from the current execution node along the cargo flow relationship, and break down the task execution process according to the continuous occupancy status of the equipment resources to generate a task resource action chain; Based on the task resource action chain, the entry and release times of each equipment resource are deduced by combining the warehouse equipment state flow, and the entry and release relationships of adjacent equipment resources are connected according to the order of goods flow to form the equipment spatiotemporal occupancy chain.

5. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 4, characterized in that, The process of reversely tracking the resource release conditions of downstream devices and propagating the handover obstruction impact upstream to generate a device handover obstruction propagation graph involves the following steps: The occupancy status of downstream devices is checked in reverse from the end of the task to the current execution node along the device spatiotemporal occupancy chain. When the current occupancy of the downstream device ends and the handover position is in an idle state, it is determined that the resource release condition is met, and a downstream release constraint is formed. Based on the downstream release constraints, the expected release time of the upstream equipment is compared with the time when the downstream equipment meets the resource release conditions. The handover blockage duration is determined and the handover blockage effect is transmitted level by level along the equipment spatiotemporal occupancy chain to form the equipment handover back pressure state. Based on the back pressure state of equipment handover, the affected equipment resources are associated according to the transmission order of the handover blockage effect to generate an equipment handover blockage propagation graph.

6. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 5, characterized in that, The process of using the equipment handover obstruction propagation diagram to perform forward shadow extrapolation of the control actions of candidate equipment and tracking the step-by-step release status of equipment resources along the cargo flow direction to generate first equipment release evidence data is as follows: Based on the equipment handover blockage propagation graph, extract the equipment resources and handover locations involved in the candidate equipment control actions, and establish a local shadow execution branch isolated from the real equipment state based on the current equipment occupancy state. Map the candidate equipment control actions to the local shadow execution branch to generate the candidate action shadow state. Based on the shadow state of candidate actions, candidate equipment control actions are injected level by level according to the direction of cargo flow, and forward shadow deduction is performed on the candidate equipment control actions. When the downstream equipment meets the receiving conditions, the cargo state is migrated and the resource release certificate is returned to the upstream equipment. When the resource release certificate can no longer be generated, the current deduction is stopped, forming the equipment resource release trajectory. The device resource release trajectory is used to track the process of occupying and releasing device resources, locate the interruption position of resource release certificate and the source of handover blockage, and obtain the device release verification sequence. The expected release time and shadow release time of each device resource are compared using the device release verification sequence, and the device resource release evidence index is calculated. Based on the device resource release evidence index, the continuous release capability of device resources under the control action of candidate devices is judged, and the first device release evidence data is generated.

7. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 6, characterized in that, The process of reversing resource occupancy and upstream expansion of handover blockage from downstream restricted locations in the equipment handover blockage propagation diagram to generate second equipment retention counter-evidence data is as follows: Based on the transmission order of the impact of handover blockage in the equipment handover blockage propagation diagram, locate the downstream equipment resource where the handover blockage first occurs, extract the affected upstream equipment resources along the direction of handover blockage propagation, and establish a reverse shadow execution branch based on the current equipment occupancy state to generate the restricted location reverse shadow state. By utilizing the reverse shadow state of the restricted location, the expected resource release of the upstream equipment is cancelled and the handover process is re-analyzed, recording the continuously occupied equipment resources and forming the equipment stagnation and expansion trajectory. Based on the equipment stagnation and expansion trajectory, the continuous occupancy range of equipment resources is tracked along the direction of handover blockage propagation, and the stagnation and expansion boundary is determined by the equipment resources that have recovered and are released normally, thus obtaining the equipment stagnation verification sequence; Based on the equipment retention verification sequence, determine the duration of continuous occupation of each equipment resource and the degree of handover blockage expansion, calculate the equipment retention counter-evidence index, use the equipment retention counter-evidence index to judge the degree of continuous expansion of handover blockage to upstream equipment resources, and generate the second equipment retention counter-evidence data.

8. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 1, characterized in that, The process involves inputting the evidence data of the first device release and the counter-evidence data of the second device retention into the device control mirror closed model, and performing step-by-step closed verification of the forward resource release process and the reverse resource retention process, outputting a device collaborative control command chain. The specific steps are as follows: Input the evidence data of the first device release and the evidence data of the second device retention into the device control mirror closed model, and align the forward release state and the reverse retention state according to the same device resources and handover position, and output the device mirror verification sequence; The resource release timing difference and the delay impact timing difference at the handover location of each device are calculated using the device mirror verification sequence. Based on the release sequence and time deviation reflected by the two types of timing differences, the device mirror closure index is calculated to form a mirror closure judgment sequence. Based on the mirror closure judgment sequence, the handover position of each device is verified step by step along the cargo flow direction to locate the real closure breakpoint where the forward resource release is blocked by the reverse resource retention, and the mirror closure verification sequence is obtained. The mirror closure verification sequence is used to screen candidate equipment control actions that do not have real closure breakpoints, and the corresponding equipment control actions are connected according to the cargo flow sequence to generate a collaborative equipment control instruction chain.

9. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 8, characterized in that, The specific steps for obtaining the warehouse equipment intelligent control report are as follows: The storage task is executed according to the equipment handover sequence using the equipment collaborative control command chain. The actual resource release time is compared with the expected resource release time. Based on the resource release deviation, the actions of the affected equipment are determined, the entry time and release time of the resources of the affected equipment are corrected, and a local correction command segment is generated. Update the equipment collaborative control command chain according to the local correction command segment and continue to execute the warehousing task, record the equipment resource release status and equipment action correction status, and generate a warehouse equipment intelligent control report.

10. The intelligent control method for equipment based on automated storage and retrieval systems as described in claim 8, characterized in that, The device control mirror closure model includes: The dual-evidence input layer receives evidence data from the release of the first device and counter-evidence data from the retention of the second device, and establishes a two-way evidence correspondence relationship according to the same device resources and handover location; The mirror timing mapping layer aligns the timing of resource release certificate formation and the arrival time of retention impact to reflect the positive release status and reverse retention status of each device handover location. The closure degree calculation layer calculates the equipment mirror closure index based on the resource release time difference and the retention impact time difference, and determines the closure degree of each equipment handover position; The closure breakpoint verification layer checks the closure judgment status step by step along the cargo flow direction to identify the real closure breakpoints where forward resource release is blocked by reverse resource retention. The collaborative control output layer filters executable candidate equipment control actions based on the verification of actual closed breakpoints, determines the equipment handover control sequence according to the cargo flow sequence, and outputs a collaborative control instruction chain for the equipment.

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