Operation control method and apparatus applied to goods storage and retrieval system

Abstract

An operation control method and apparatus applied to a goods storage and retrieval system (300), a computer-readable medium, an electronic device, and a computer program product. The operation control method applied to a goods storage and retrieval system comprises: in response to an operation endpoint of a goods carrying platform (304) being a target position, controlling the goods carrying platform to move to an adjacent position above the target position, wherein the goods carrying platform, when located at the target position, has a possibility of collision with at least some of transfer vehicles (301) in an operating state, and the goods carrying platform, when located at the adjacent position, has no possibility of collision with any of the transfer vehicles in an operating state; and in response to an operation permission for unit areas below the target position not being acquired by a first transfer vehicle in a first operating state among the transfer vehicles, determining that there is no possibility of collision between the transfer vehicles and the goods carrying platform if located at the target position; and controlling the goods carrying platform to move from the adjacent position to the target position. The method helps improve scheduling flexibility and storage and retrieval efficiency while ensuring the operational safety of the goods storage and retrieval system.

Description

Operation control method and device for cargo storage and retrieval system

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Chinese patent application No. 202411833242.9 filed with the China National Intellectual Property Administration (CNIPA) on December 12, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to the field of computer technology, specifically to the field of intelligent warehousing technology, and more particularly to an operation control method, apparatus, computer-readable medium, electronic device, and computer program product applied to a cargo storage and retrieval system. Background Technology

[0004] Goods storage and retrieval systems are a new type of intelligent warehousing equipment. These systems efficiently handle goods in and out of the warehouse, significantly improving storage and retrieval efficiency and shortening the entry cycle. The vertical rails and loading platforms in a goods storage and retrieval system work together to store and retrieve goods on the shelves, while transfer vehicles dock with the buffer positions on the shelves to move goods in and out. During the operation of the goods storage and retrieval system, the vertical rails and loading platforms (especially the loading platforms) move frequently on the shelves, posing a risk of collision with the transfer vehicles operating on the ground. Summary of the Invention

[0005] This disclosure provides an operation control method, system, apparatus, computer-readable medium, electronic device, and computer program product applicable to a cargo storage and retrieval system.

[0006] In a first aspect, embodiments of this disclosure provide an operation control method for a goods storage and retrieval system. The goods storage and retrieval system includes a transfer vehicle, a shelf, and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle runs based on a unit area on its operating plane to exchange goods with the loading platform. The method includes: responding to the target position being the end point of the loading platform's operation, controlling the loading platform to run to an adjacent position above the target position, wherein the loading platform at the target position has a collision possibility with at least some of the transfer vehicles in operation, and the loading platform at the adjacent position has no collision possibility with all of the transfer vehicles in operation; responding to the fact that the operation permission for the unit area below the target position is not acquired by the first transfer vehicle in a first operating state, determining that there is no collision possibility between the transfer vehicle and the loading platform at the target position; and controlling the loading platform to run from the adjacent position to the target position.

[0007] In some examples, the target location corresponds to the bottom storage location on the shelf, the first operating state is a high-load state characterized by goods on the lifting mechanism of the first transfer vehicle and the lifting mechanism being raised, and the above-mentioned response to the first transfer vehicle in the first operating state not acquiring the operating permission of the unit area below the target location, determining that there is no possibility of collision between the transfer vehicle and the loading platform at the target location, including: in response to the first transfer vehicle in the high-load state not acquiring the operating permission of the unit area below the target location, determining that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0008] In some examples, the target location corresponds to the bottom buffer position of the shelf, the first operating state is the loading state of goods on the lifting mechanism of the first transfer vehicle, and the above-mentioned response to the operation permission of the unit area below the target location not being obtained by the first transfer vehicle in the first operating state, determining that there is no possibility of collision between the transfer vehicle and the loading platform at the target location, including: in response to the operation permission of the unit area below the target location not being obtained by the first transfer vehicle in the loading state, determining that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0009] In some examples, the method further includes: in response to the first transfer vehicle acquiring the operating permission of the unit area below the target location, determining that there is a possibility of collision between the transfer vehicle and the loading platform at the target location; controlling the loading platform to pause at an adjacent location until the first transfer vehicle releases the operating permission of the unit area below the target location.

[0010] In some examples, the goods storage and retrieval system also includes a vertical rail located outside one of two opposing shelves and capable of horizontal movement, a loading platform capable of vertical movement along the vertical rail, and the method further includes: for multiple extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the operating permissions of the multiple extended unit areas have not been acquired by the second transfer vehicle in the second operating state of the transfer vehicle, determining that there is no possibility of collision between the transfer vehicle and the vertical rail, wherein the multiple extended unit areas are located in front of the target unit area in the horizontal movement direction, and the target unit area is located below the current position of the vertical rail; setting the state of the multiple extended unit areas to a prohibited operation state for the second transfer vehicle, and controlling the vertical rail to move horizontally, wherein the state of the target unit area is a prohibited operation state for the second transfer vehicle.

[0011] In some examples, the second operating state is a cargo-carrying high-position state characterized by goods on the lifting mechanism of the second transfer vehicle and the lifting mechanism being raised; and the above-mentioned determination that there is no possibility of collision between the transfer vehicle and the vertical rail in response to the fact that the operating permissions of multiple expansion unit areas are not obtained by the second transfer vehicle in the second operating state of the transfer vehicle includes: determining that there is no possibility of collision between the transfer vehicle and the vertical rail in response to the fact that the operating permissions of multiple expansion unit areas are not obtained by the second transfer vehicle in the cargo-carrying high-position state of the transfer vehicle.

[0012] In some examples, the target cell region includes the cell region directly below the current position, as well as the cell region preceding and following the cell region above and below in the horizontal running direction, with multiple extended cell regions located in front of the preceding cell region. The method also includes determining the number of extended cell regions based on the current position of the vertical rail to identify multiple extended cell regions.

[0013] In some examples, the above method further includes: in response to the fact that the operating permission of the extended unit area is acquired by the second transfer car in the second operating state of the transfer car, determining that there is a possibility of collision between the transfer car and the vertical rail; controlling the vertical rail to pause at the current position until the second transfer car releases the operating permission of the extended unit area.

[0014] Secondly, embodiments of this disclosure provide an operation control device for a goods storage and retrieval system. The goods storage and retrieval system includes a transfer vehicle, a shelf, and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle runs based on a unit area on its operating plane to exchange goods with the loading platform. The device includes: a first operating unit configured to control the loading platform to run to an adjacent position above the target position in response to the target position being the end point of the loading platform's operation, wherein the loading platform at the target position has a collision possibility with at least some of the transfer vehicles in operation, and the loading platform at the adjacent position has no collision possibility with all of the transfer vehicles in operation; a probability determination unit configured to determine that there is no collision possibility between the transfer vehicle and the loading platform at the target position in response to the first transfer vehicle in a first operating state not acquiring the operating permission for the unit area below the target position; and a second operating unit configured to control the loading platform to run from the adjacent position to the target position.

[0015] In some examples, the target location corresponds to the bottom storage location on the shelf, the first operating state is a high-load state characterized by goods on the lifting mechanism of the first transfer vehicle and the lifting mechanism being raised, and the aforementioned probability determination unit is further configured to: in response to the fact that the operating permission of the unit area below the target location is not acquired by the first transfer vehicle in the high-load state, determine that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0016] In some examples, the target location corresponds to the bottom buffer position of the shelf, the first operating state is a loaded state representing that there are goods on the lifting mechanism of the first transfer vehicle, and the above-mentioned probability determination unit is further configured to: in response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the loaded state, determine that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0017] In some examples, the probability determination unit is also configured to: determine the possibility of a collision between the transfer vehicle and the loading platform at the target location in response to the first transfer vehicle acquiring the operating permission of the unit area below the target location; the second operating unit is also configured to control the loading platform to pause at an adjacent location until the first transfer vehicle releases the operating permission of the unit area below the target location.

[0018] In some examples, the goods storage and retrieval system also includes a horizontally operable vertical rail located outside one of two opposing shelving units, a loading platform operable vertically along the vertical rail, and a probability determination unit configured to determine that there is no possibility of collision between the transfer vehicle and the vertical rail for a plurality of extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the operating permission of the plurality of extended unit areas has not been acquired by the second transfer vehicle in a second operating state, wherein the plurality of extended unit areas are located in front of the target unit area in the horizontal operating direction, and the target unit area is located below the current position of the vertical rail; the device also includes a third operating unit configured to set the state of the plurality of extended unit areas to a prohibited operating state for the second transfer vehicle and control the horizontal operation of the vertical rail, wherein the state of the target unit area is a prohibited operating state for the second transfer vehicle.

[0019] In some examples, the second operating state is a cargo-carrying high-position state characterized by goods on the lifting mechanism of the second transfer vehicle and the lifting mechanism being raised; and the aforementioned probability determination unit is further configured to: determine that there is no possibility of collision between the transfer vehicle and the vertical rail in response to the fact that the operating permissions of the multiple extended unit areas are not acquired by the second transfer vehicle in the cargo-carrying high-position state of the transfer vehicle.

[0020] In some examples, the target unit region includes a lower unit region directly below the current position, and a previous and next unit region of the upper and lower unit regions in the horizontal running direction, with multiple extended unit regions located in front of the previous unit region. The device also includes a region determining unit configured to determine the number of extended unit regions based on the current position of the vertical rail, thereby determining multiple extended unit regions.

[0021] In some examples, the probability determination unit is also configured to: determine the possibility of a collision between the transfer car and the vertical rail in response to the second transfer car in the second operating state acquiring the operating permission of the extended unit area; the third operating unit is also configured to: control the vertical rail to pause at the current position until the second transfer car releases the operating permission of the extended unit area.

[0022] Thirdly, embodiments of this disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, it implements the method as described in any implementation of the first aspect.

[0023] Fourthly, embodiments of this disclosure provide an electronic device, including: one or more processors; and a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation of the first aspect.

[0024] Fifthly, embodiments of this disclosure provide a computer program product, including: a computer program that, when executed by a processor, implements the method described in any implementation of the first aspect. Attached Figure Description

[0025] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0026] Figure 1 is an exemplary system architecture diagram in which an embodiment of this disclosure can be applied;

[0027] Figure 2 is a flowchart of an embodiment of the operation control method applied to a cargo storage and retrieval system according to the present disclosure;

[0028] Figures 3A-3C are schematic diagrams of the cargo storage and retrieval system according to this embodiment;

[0029] Figure 4 is a schematic diagram of the operation process of the vertical rail and loading platform on the shelf according to this embodiment;

[0030] Figure 5 is another schematic diagram of the transfer vehicle handing over goods to the loading platform based on the buffer position according to this embodiment;

[0031] Figure 6 is a schematic diagram of the relative positional relationship between various operating objects in the cargo storage and retrieval system according to this embodiment;

[0032] Figure 7 is a schematic diagram of the state when the loading platform is in the target position according to this embodiment;

[0033] Figure 8 is a schematic diagram illustrating the determination of multiple unit regions according to this embodiment;

[0034] Figure 9 is a schematic diagram of an application scenario of the operation control method for a cargo storage and retrieval system according to this embodiment;

[0035] Figure 10 is a flowchart of yet another embodiment of the operation control method applied to a cargo storage and retrieval system according to the present disclosure;

[0036] Figure 11 is a structural diagram of an embodiment of an operation control device applied to a cargo storage and retrieval system according to the present disclosure;

[0037] Figure 12 is a schematic diagram of the structure of a computer system suitable for implementing embodiments of the present disclosure. Detailed Implementation

[0038] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] It should be noted that the collection, gathering, updating, analysis, processing, use, transmission, and storage of user personal information involved in this disclosed technical solution all comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken to prevent unauthorized access to user personal information data and to safeguard user personal information security, network security, and national security.

[0041] In related technologies, during the operation of the vertical rails and loading platforms, all transfer vehicles are prohibited from operating on the grid below the vertical rails and loading platforms.

[0042] The operation control method and apparatus for a cargo storage and retrieval system provided in this disclosure control the cargo platform to a nearby position above the target position in response to the target position being the end point of the cargo platform's operation. The cargo platform at the target position may collide with at least some of the transfer vehicles in operation, while the cargo platform at the nearby position may not collide with any of the transfer vehicles in operation. In response to the fact that the operation permission for the unit area below the target position is not acquired by the first transfer vehicle in the first operation state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position. By controlling the cargo platform to move from the nearby position to the target position, the operation phase of the cargo platform is divided into two stages: in the first stage, the cargo platform is controlled to move to a nearby position above the end point of operation; in the second stage, based on the collision probability between the cargo platform and the transfer vehicle, it is controlled whether to immediately move to the end point of operation. This approach helps improve scheduling flexibility and storage and retrieval efficiency while ensuring the operational safety of the cargo storage and retrieval system.

[0043] Figure 1 illustrates an exemplary architecture 100 for the operation control method and apparatus of this disclosure applied to a cargo storage and retrieval system.

[0044] As shown in Figure 1, the system architecture 100 may include terminal devices 101, 102, and 103, a network 104, and a server 105. The communication connections between terminal devices 101, 102, and 103 form a network topology. Network 104 serves as the medium for providing communication links between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0045] Terminal devices 101, 102, and 103 can interact with server 105 via network 104 to receive or send data. Terminal devices 101, 102, and 103 can be hardware or software that supports network connectivity for data interaction and processing. When terminal devices 101, 102, and 103 are hardware, they can be various electronic devices that support network connectivity, information acquisition, interaction, display, and processing functions, including but not limited to vertical rails, loading platforms, and transfer vehicles in a cargo storage system. When terminal devices 101, 102, and 103 are software, they can be installed in the aforementioned electronic devices. They can be implemented as multiple software programs or software modules, for example, to provide distributed services, or as a single software program or software module. No specific limitations are made here.

[0046] Server 105 can be a server that provides various services, such as a background processing server that sends execution instructions to terminal devices 101, 102, and 103 to control their operation. As an example, server 105 can be a cloud server.

[0047] It should be noted that a server can be either hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software programs or software modules (such as software programs or software modules used to provide distributed services), or as a single software program or software module. No specific limitations are made here.

[0048] It should also be noted that the operation control method for a cargo storage and retrieval system provided in the embodiments of this disclosure is generally executed by a server, but the possibility of it being executed by a terminal device, or by a server and a terminal device cooperating with each other, is not excluded. Accordingly, the various parts (e.g., various units) of the operation control device for a cargo storage and retrieval system can all be located in the server, all in the terminal device, or separately in the server and the terminal device.

[0049] It should be understood that the number of terminal devices, networks, and servers in Figure 1 is merely illustrative. Any number of terminal devices, networks, and servers can be used depending on implementation needs. When the electronic equipment running on the operation control method of the cargo storage system does not need to transmit data with other electronic equipment, the system architecture may only include the electronic equipment (e.g., servers or terminal devices) running on the operation control method of the cargo storage system.

[0050] Referring again to Figure 2, a flow 200 of an embodiment of an operation control method applied to a cargo storage and retrieval system is shown.

[0051] To clearly explain the operation control method applied to the goods storage and retrieval system, the goods storage and retrieval system will be described as follows:

[0052] Referring again to Figures 3A-3C, a structural schematic diagram of the goods storage and retrieval system is shown. Figure 3A shows a three-dimensional structural schematic diagram of the goods storage and retrieval system, Figure 3B shows a side view of the goods storage and retrieval system, and Figure 3C shows a top view of the goods storage and retrieval system.

[0053] The goods storage and retrieval system 300 includes a transfer vehicle 301, a shelf 302, and a loading platform 304 located on the outer side of the shelf. The transfer vehicle operates based on a unit area on its operating plane to exchange goods with the loading platform. For example, a basket device can be used to enable the loading platform to move horizontally and vertically along the outer side of the shelf; or, for example, the shelf is equipped with horizontal and vertical tracks, allowing the loading platform to move horizontally along the outer side of the shelf via the horizontal tracks and vertically along the outer side of the shelf via the vertical tracks.

[0054] In some implementations, the goods storage and retrieval system also includes horizontally movable vertical rails located outside the shelving, and vertically movable loading platforms that run along these rails. A unit area is a region of a certain size obtained by dividing the operating plane, such as a grid. Operating objects such as transfer vehicles, vertical rails, and loading platforms can set corresponding permissions for unit areas. Operating objects with permissions set for a unit area have exclusive rights against other operating objects that may collide with that object and subsequently want to set permissions for that unit area. Specifically, permission settings may include vertical rails and loading platforms setting a prohibited operating state for a unit area, and transfer vehicles acquiring operating permissions for that unit area. After vertical rails and loading platforms set a prohibited operating state for a unit area, transfer vehicles that may collide with vertical rails or loading platforms cannot run in the prohibited unit area; after a transfer vehicle acquires operating permissions for a unit area, vertical rails that may collide with the transfer vehicle cannot run above the unit area, and loading platforms that may collide with the transfer vehicle will not run to a target position close to the transfer vehicle's operating plane.

[0055] Referring again to Figure 4, a schematic diagram of the operation of the vertical rails and loading platform on the shelf is shown. Specifically, Figure 4 illustrates the operation process of the loading platform moving from storage location A to storage location B or buffer location C to perform a task.

[0056] By combining the horizontal movement of the vertical rails with the vertical movement of the loading platform, the loading platform can perform the operations of moving (storing) and moving (retrieving) goods to any storage location on the shelf, and hand over the goods to the transfer vehicle on the running plane.

[0057] Referring again to Figure 3B, shelves in a goods storage system are typically arranged in pairs facing each other, with aisles between them. When a transfer vehicle needs to exchange goods with a loading platform based on a buffer position, it generally needs to travel perpendicular to the length of the aisle to reach the buffer position. The transfer vehicle is equipped with a lifting mechanism, on which goods can be placed. During the process of storing goods on the shelf, the transfer vehicle carrying goods travels along its corresponding route to the bottom of the shelf, raises its lifting mechanism, and travels perpendicular to the length of the aisle to place the goods in the buffer position below the bottom storage position of the shelf. The loading platform can then place the goods from the buffer position to the target storage position on the shelf. During the process of retrieving goods from the shelf, the vertical rails and the loading platform work together to place the goods from the shelf into the buffer position on the shelf. After the transfer vehicle travels perpendicular to the length of the aisle to the bottom of the buffer position, it raises its lifting mechanism to lift the goods and place them on the lifting mechanism. It then reverses into the aisle, lowers the lifting mechanism, and transports the goods to the designated destination.

[0058] For shelves arranged opposite each other, a vertical rail and loading platform can be installed on one shelf, while a buffer space can be installed below the bottom storage location of the other shelf. Thus, during the horizontal movement of the vertical rail, because the transfer vehicle only exchanges goods with the buffer space on the opposite shelf, there is no possibility of collision between the vertical rail and the transfer vehicle.

[0059] Referring again to Figure 5, a schematic diagram shows the transfer vehicle handing over goods to the loading platform based on buffer positions. For oppositely arranged shelves, buffer positions can be set below the bottom storage positions of both shelves, while the vertical rail and loading platform are only installed on one of the shelves. It can be understood that increasing the number of buffer positions helps to improve the storage and retrieval efficiency of the goods storage and retrieval system.

[0060] During operation, a transfer vehicle generally operates in three states: empty low position, loaded low position, and loaded high position. The empty low position indicates that no goods are placed on the lifting mechanism and the lifting mechanism is not raised; the loaded low position indicates that goods are placed on the lifting mechanism and the lifting mechanism is not raised; the loaded high position indicates that goods are placed on the lifting mechanism and the lifting mechanism is raised. Generally, the transfer vehicle is in the loaded high position only when it is hinged to the rack via a buffer position.

[0061] Referring again to Figure 6, a schematic diagram of the relative positional relationships between various operating objects in the cargo storage and retrieval system is shown.

[0062] For the vertical rails, the height of the lower end of the vertical rails is lower than the height of the transfer vehicle in the high-load position, meaning there is a possibility of collision between the vertical rails and the transfer vehicle in the high-load position during operation. For the loading platform, when the loading platform is in the lowest storage position on the shelf, its height is lower than the height of the transfer vehicle in the high-load position, meaning there is a possibility of collision between the loading platform in the first storage position and the transfer vehicle in the high-load position; when the loading platform is in the buffer position below the lowest storage position on the shelf, its height is lower than the height of the transfer vehicle in the high-load and low-load positions, meaning there is a possibility of collision between the loading platform in the buffer position and the transfer vehicle in the high-load and low-load positions. It should be noted that the relative positional relationships shown in Figure 6 are only one implementation of the goods storage and retrieval system in this disclosure, intended to facilitate the explanation of the subsequent processing steps in this disclosure. Based on the implementation requirements of the goods storage and retrieval system, the relative positional relationships between the various operating objects in the goods storage and retrieval system can be flexibly changed, for example, by lowering or raising the height of the lower end of the vertical rails.

[0063] Process 200 includes the following steps:

[0064] Step 201: In response to the destination of the loading platform being the target position, control the loading platform to move to a nearby position above the target position.

[0065] In this embodiment, the aforementioned executing entity can control the loading platform to move to a nearby position above the target position, in response to the target position being the endpoint of the loading platform's operation. The loading platform at the target position may collide with at least some of the transport vehicles in operation, while the loading platform at the nearby position may not collide with any of the transport vehicles in operation. For example, the target position may be relatively low in height compared to the transport vehicle's operating plane, thus posing a collision possibility with some of the transport vehicles in operation; conversely, the nearby position may be relatively high in height compared to the transport vehicle's operating plane, thus posing a collision possibility with all of the transport vehicles in operation.

[0066] As an example, the aforementioned executing entity can determine the scope of the target location based on the maximum height of the transfer vehicle in each operating state, aiming to include all target locations with a potential collision with at least some of the transfer vehicles in each operating state within the defined scope. For example, the defined scope could be all locations below the maximum height of the transfer vehicles on the shelf. In response to the destination of the loading platform being the target location, the loading platform is controlled to move to an adjacent location above the target location. Where the loading platform located in the adjacent location has no potential collision with any transfer vehicle in any operating state. For example, the adjacent location could be the location corresponding to the storage space above the maximum height of the transfer vehicles in each operating state on the shelf.

[0067] Step 202: In response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the first operating state, it is determined that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0068] In this embodiment, the aforementioned execution entity can determine that there is no possibility of collision between the transfer vehicle and the loading platform at the target location if the operating permission for the unit area below the target location is not obtained by the first transfer vehicle in the first operating state. There can be multiple unit areas below the target location, specifically, for example, the lower unit area directly below the target location, and the preceding and following unit areas of the unit areas above and below the horizontal running direction of the vertical rail.

[0069] During operation, the transfer vehicle can obtain access to the current unit area and at least one unit area ahead of its current location to avoid collisions with other transfer vehicles or loading platforms. Among all transfer vehicles in the cargo storage and retrieval system, the transfer vehicle in the first operating state is designated as the first transfer vehicle.

[0070] Continuing with the example of the target location within the aforementioned defined range, the executing entity can determine the correspondence between each target location and each first operating state. When a target location corresponds to a first operating state, it indicates a possibility of collision between the loading platform at the target location and the transfer vehicle in the first operating state that has obtained operating access to the unit area below the target location. For example, the height of the loading platform at the target location may be lower than the height of the transfer vehicle in the first operating state.

[0071] As an example, the aforementioned execution entity can determine the first operating state corresponding to the target location based on the correspondence, thereby determining that there is no possibility of collision between the transfer vehicle in the cargo storage and retrieval system and the loading platform at the target location when the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the first operating state of the transfer vehicle.

[0072] In some implementations of this embodiment, the target location corresponds to the lowest storage location on the shelf, and the first operating state is a high-load state characterized by goods on the lifting mechanism of the first transfer vehicle and the lifting mechanism being raised.

[0073] In this implementation, the above-mentioned execution entity can perform the above step 202 in the following way: in response to the fact that the running permission of the unit area below the target position is not obtained by the first transfer vehicle in the high-position loading state, it is determined that there is no possibility of collision between the transfer vehicle and the loading platform at the target position.

[0074] Referring back to Figure 6, theoretically, there is a possibility of collision between the loading platform in the first storage position and the transfer vehicle in a high-load position, but no possibility of collision between the platform and the transfer vehicle in a low-load or empty low-load position. When the first transfer vehicle in a high-load position has access to the unit area below the target location, it indicates that the first transfer vehicle is about to or is currently moving to the area below the target location, and there is an actual possibility of collision between the two vehicles. Conversely, when the first transfer vehicle in a high-load position does not have access to the unit area below the target location, it indicates that the first transfer vehicle will not pass through the unit area below the target location in a short time or at all, and therefore, there is no actual possibility of collision between the two vehicles.

[0075] This implementation provides a loading platform operation scheme for the first-level storage location, which improves the operational flexibility of the loading platform and transfer vehicle while ensuring operational safety.

[0076] In some implementations of this embodiment, the target location corresponds to the buffer position below the bottom storage position of the shelf, and the first operating state represents the cargo-laden state of the lifting mechanism on the first transfer vehicle. The cargo-laden state includes a high-carrying state and a low-carrying state.

[0077] In this implementation, the above-mentioned execution entity can perform the above step 202 in the following way: in response to the fact that the running permission of the unit area below the target position is not obtained by the first transfer vehicle in the cargo-carrying state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target position.

[0078] Referring back to Figure 6, theoretically, a loading platform in the buffer position may collide with a transfer vehicle in a high-load or low-load state, but not with a transfer vehicle in an empty low-load state. When the first transfer vehicle in the loaded state has access to the unit area below the target position, it indicates that the first transfer vehicle is about to or is currently moving to the area below the target position, and there is an actual possibility of collision between the two vehicles. Conversely, when the first transfer vehicle in the loaded state does not have access to the unit area below the target position, it indicates that the first transfer vehicle will not pass through the unit area below the target position in a short time or at all, and therefore, there is no actual possibility of collision between the two vehicles.

[0079] This implementation provides a loading platform operation scheme under buffer conditions, which improves the operational flexibility of the loading platform and transfer vehicle while ensuring operational safety.

[0080] In some implementations of this embodiment, the execution entity may also perform the following operation: in response to the fact that the unit area below the target location has not been granted operating permission by the transfer vehicle, the loading platform is controlled to move from the adjacent location to the target location.

[0081] When no transfer vehicle has obtained operating permission for the unit area below the target location, it is safe to determine that the process of the loading platform moving from the adjacent location to the target location is safe and controllable.

[0082] This implementation provides a specific scenario-based control scheme for the operation of a loading platform, which improves the comprehensiveness of the operation control method and the safety of the loading platform's operation.

[0083] In some implementations of this embodiment, the execution entity may also perform the following operations: First, in response to the first transfer vehicle acquiring the operating permission of the unit area below the target location, it is determined that there is a possibility of collision between the transfer vehicle and the loading platform at the target location; then, the loading platform is controlled to pause at an adjacent location until the first transfer vehicle releases the operating permission of the unit area below the target location.

[0084] The control time of the transfer vehicle's operating permission for the unit area is based on its operation process. When the transfer vehicle has passed the unit area, the operating permission for the unit area is released, or after passing the unit area for a certain distance, the operating permission for the unit area is released.

[0085] When the target location corresponds to the first storage location, the first transfer vehicle in the high-load state acquires the operating permission of the unit area below the target location, and determines that there is a possibility of collision between the transfer vehicle and the loading platform at the target location; then, the loading platform is controlled to pause at an adjacent location until the first transfer vehicle in the high-load state releases the operating permission of the unit area below the target location.

[0086] When the target position corresponds to the cache position, the first transfer vehicle in the loading state obtains the operating permission of the unit area below the target position in response to the possibility of collision between the transfer vehicle and the loading platform at the target position; then, the loading platform is controlled to pause at an adjacent position until the first transfer vehicle in the loading state releases the operating permission of the unit area below the target position.

[0087] After the first transfer vehicle releases the operating permission of the unit area below the target location, the status of the unit area below the target location is set to a prohibited operating status for the first transfer vehicle, and the loading platform is controlled to move from the adjacent location to the target location.

[0088] This implementation provides a specific scenario-based control scheme for the operation of a loading platform, which improves the comprehensiveness of the operation control method and the safety of the loading platform's operation.

[0089] Step 203: Set the status of the unit area below the target location to a prohibited operation status for the first transfer vehicle, and control the loading platform to move from the adjacent location to the target location.

[0090] In this embodiment, the execution entity can set the state of the unit area below the target location to a prohibited operation state for the first transfer vehicle, and control the loading platform to move from the adjacent location to the target location.

[0091] As an example, the loading platform includes a communication module, a control module, and an operation module. The aforementioned executing entity sends control commands to the loading platform to move from a nearby location to a target location. The loading platform receives the control commands through the communication module, the control module analyzes and processes the control commands, and controls the operation module to run, enabling the loading platform to move from the nearby location to the target location.

[0092] In some optional implementations of this embodiment, the execution entity may also perform the following operations:

[0093] The first step is to determine that there is no possibility of collision between the transfer car and the vertical rail, in response to the fact that the operating permissions of the multiple extended unit areas are not obtained by the second transfer car in the second operating state of the transfer car, for the current position of the vertical rail.

[0094] Among them, multiple extended unit areas are located in front of the target unit area in the horizontal running direction, and the target unit area is located below the current position of the vertical rail.

[0095] In this implementation, the shelves can be set up as shown in Figure 5, with buffer positions set up for two opposite shelves.

[0096] During the horizontal operation of the vertical rails, for the second transfer car in its second operating state, which may collide with the vertical rails, it is necessary to pre-set multiple unit areas with prohibited operating states. The unit areas with pre-set prohibited operating states are called extended unit areas.

[0097] The number of extended unit areas can be set according to the actual situation, for example, 3.

[0098] The second step is to set the status of multiple extended unit areas to a prohibited operation state for the second transfer car and control the horizontal operation of the vertical rails.

[0099] The target unit area is in a prohibited operation state for the second transfer vehicle.

[0100] The aforementioned execution entity sets the status of multiple expansion unit areas to a prohibited operation state for the second transfer vehicle, so that the second transfer vehicle will not obtain the operation permission of the expansion unit area during the horizontal movement of the vertical rail towards the expansion unit, thereby avoiding the possibility of collision between the vertical rail and the second transfer vehicle during the horizontal movement of the vertical rail.

[0101] This implementation provides a specific operating mode for vertical rails that can avoid the possibility of collisions with transfer vehicles during the operation of the vertical rails. While ensuring the operational safety of the cargo storage and retrieval system, it further improves scheduling flexibility and storage and retrieval efficiency.

[0102] In some optional implementations of this embodiment, the second operating state is a cargo-carrying high-position state characterized by goods on the lifting mechanism of the second transfer vehicle and the lifting mechanism being raised.

[0103] In this implementation, the aforementioned execution entity can perform the first step as follows: in response to the fact that the running permissions of multiple extended unit areas are not obtained by the second transfer vehicle in the high-load state of the transfer vehicle, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0104] If the second transfer vehicle in the high-load state of the transfer vehicle does not obtain the running permissions for multiple extended unit areas, it indicates that the second transfer vehicle will not pass through the extended unit areas in a short period of time or at all. Therefore, there is no actual possibility of collision between the two running objects.

[0105] This implementation provides a track-mounted operation scheme tailored to specific scenarios, which further improves the operational flexibility of the track and transfer vehicle while ensuring operational safety.

[0106] In some optional implementations of this embodiment, the target unit region includes the lower unit region directly below the current position, as well as the previous and next unit regions of the upper and lower unit regions in the horizontal running direction, and multiple extended unit regions are located in front of the previous unit region.

[0107] The reasons for setting up multiple unit areas as described above are as follows:

[0108] 1. The vertical rail has two parallel tracks on both sides, each with a certain width. Thus, the tracks on both sides intersect with the unit areas on either side of the target unit area (the preceding unit area and the following unit area). In other words, the vertical rail may collide with a transfer vehicle operating in the preceding unit area and in its first operating state, and may also collide with a transfer vehicle operating in the preceding or following unit area and in its first operating state.

[0109] 2. Referring to Figure 7, a schematic diagram of the loading platform when it is in the target position is shown. It can be seen that the loading platform has a certain width. When the loading platform transfers goods with the first-level storage or buffer position, there is a possibility of collision with the transfer vehicle that is running in the previous unit area and is in a partially running state, and there is also a possibility of collision with the transfer vehicle that is running in the unit area before and after and is in a partially running state.

[0110] In this implementation, the aforementioned execution entity can also perform the following operation: determine the number of expansion unit regions based on the current position of the rail, thereby determining multiple expansion unit regions.

[0111] In this implementation, the number of extended unit regions is preset. During the operation of the vertical rail, if the foremost extended unit region in the direction of the vertical rail's movement does not exceed the unit region preceding the target unit region corresponding to the end point of the vertical rail's movement, the number of extended unit regions is fixed at the preset number. When the foremost extended unit region reaches the unit region preceding the target unit region corresponding to the end point of the vertical rail's movement, the number of extended unit regions decreases sequentially as the vertical rail moves horizontally until the number of extended unit regions becomes 0.

[0112] Referring again to Figure 8, a schematic diagram illustrating the determination of multiple unit regions is shown. Taking the movement of the vertical rail from position A to position D, with a preset quantity of 3, as an example, during the process of the vertical rail moving from position A to position B, the number of unit regions below the vertical rail that are set to a prohibited operation state is 6. For example, when the vertical rail is at position A, the 6 unit regions are unit regions 1-6; when the vertical rail is at position B, the 6 unit regions are unit regions 15-20.

[0113] During the movement of the vertical rail from position B to the endpoint position D, when the foremost extended unit region 20 of the vertical rail at position B reaches the preceding unit region 20 of the target unit region 19 corresponding to the endpoint C of the vertical rail, the number of extended unit regions decreases sequentially. For example, when the vertical rail is at position C, there are 5 unit regions (including two extended unit regions) consisting of unit regions 16-20.

[0114] In this implementation, the horizontal running speed of the vertical rail is relatively fast. By setting up extended unit areas, the possibility of collision between the vertical rail and the transfer vehicle can be further reduced. Furthermore, the number of extended unit areas is determined according to the current position of the vertical rail, which avoids reducing the scheduling flexibility of the transfer vehicle by setting up too many extended unit areas.

[0115] In some optional implementations of this embodiment, the above-mentioned execution entity may also perform the following operations: First, in response to the fact that the running permission of the extended unit area is acquired by the second transfer car in the second running state of the transfer car, it is determined that there is a possibility of collision between the transfer car and the vertical rail; then, the vertical rail is controlled to pause at the current position until the second transfer car releases the running permission of the extended unit area.

[0116] The control time of the transfer vehicle's operating permission for the unit area is based on its operation process. When the transfer vehicle has passed the unit area, the operating permission for the unit area is released, or after passing the unit area by a preset distance, the operating permission for the unit area is released.

[0117] In response to the second transfer car in the second operating state of the transfer car acquiring the operating permission of any of the multiple extended unit areas, it is determined that there is a possibility of collision between the transfer car and the vertical rail, and the vertical rail is controlled to pause at the current position until the second transfer car releases the operating permission of the extended unit area.

[0118] After the second transfer car releases the operating permission of the expansion unit area, the status of multiple expansion unit areas is set to a prohibited operating state for the second transfer car, and the horizontal movement of the vertical rail is controlled.

[0119] This implementation provides a rail-standing operation scheme when the operating permission of the extended unit area is acquired by the second transfer car in the second operating state, which improves the comprehensiveness of the operation control method and the safety of the rail-standing operation process.

[0120] Referring again to Figure 9, Figure 9 is a schematic diagram 900 of an application scenario of the operation control method for a goods storage and retrieval system according to this embodiment. In the application scenario of Figure 9, the goods storage and retrieval system 901 includes a transfer vehicle, a shelf, a vertical rail located outside the shelf and capable of running horizontally, and a loading platform capable of running vertically along the vertical rail. The transfer vehicle runs based on a unit area on its operating plane to exchange goods with the loading platform.

[0121] Server 902 interacts with the cargo storage and retrieval system 901 in real time to determine data such as the operating routes, positions, and statuses of the transfer vehicles, vertical rails, and loading platforms. During the horizontal operation of the vertical rails, in response to the first transfer vehicle being in a first operating state, it determines that there is a possibility of collision between the first transfer vehicle and the vertical rails, and sets the status of the unit area below the current position of the vertical rails to a prohibited operating state for the first transfer vehicle. In response to the loading platform's operating endpoint being the target position, it controls the loading platform to move to an adjacent position above the target position, wherein the loading platform at the target position has a possibility of collision with at least a partially operating transfer vehicle. In response to the second transfer vehicle being in a second operating state, it determines that there is no possibility of collision between the second transfer vehicle and the loading platform at the target position, and controls the loading platform to move from an adjacent position to the target position, wherein the second transfer vehicle has operating permissions for the unit area below the target position.

[0122] The method provided in the above embodiments of this disclosure, during the horizontal operation of the vertical rail, in response to the first transfer vehicle being in a first operating state, determines that there is a possibility of collision between the first transfer vehicle and the vertical rail, and sets the state of the unit area below the current position of the vertical rail to a prohibited operating state for the first transfer vehicle; in response to the destination of the loading platform being a target position, controls the loading platform to run to an adjacent position above the target position, wherein the loading platform at the target position has a possibility of collision with the transfer vehicle in at least a partial operating state; in response to the second transfer vehicle being in a second operating state, determines that there is no possibility of collision between the second transfer vehicle and the loading platform at the target position, and controls the loading platform to run from the adjacent position to the target position, wherein the second transfer vehicle has operating permission in the unit area below the target position, thereby performing targeted coordination during the operation of the vertical rail, loading platform, and transfer vehicle, which helps to improve scheduling flexibility and storage efficiency while ensuring the operational safety of the cargo storage and retrieval system.

[0123] Referring again to Figure 10, a schematic flow 1000 of another embodiment of the operation control method for a cargo storage and retrieval system according to the present disclosure is shown, including the following steps:

[0124] Step 1001: During the horizontal operation of the vertical rail, determine the number of extended unit areas based on the current position of the vertical rail, so as to determine multiple extended unit areas.

[0125] Multiple cell regions include the target cell region directly below the current position, the cell region preceding and following the target cell region in the horizontal direction of movement, and the extended cell region in front of the preceding cell region.

[0126] Step 1002: For the multiple extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the operating permissions of the multiple extended unit areas have not been obtained by the second transfer car in the second operating state of the transfer car, it is determined that there is no possibility of collision between the transfer car and the vertical rail.

[0127] The target cell region includes the target cell region directly below the current position, and the preceding and following cell regions in the horizontal direction of movement. Multiple extended cell regions are located in front of the preceding cell region.

[0128] Step 1003: In response to the fact that the operating permission of the extended unit area is obtained by the second transfer car in the second operating state of the transfer car, it is determined that there is a possibility of collision between the transfer car and the vertical rail.

[0129] Step 1004: Control the vertical rail to pause at its current position until the second transfer car releases the operating permission for the extended unit area.

[0130] Step 1005: Set the status of multiple extended unit areas to a prohibited operation state for the second transfer car, and control the horizontal operation of the vertical rail.

[0131] Step 1006: In response to the target position being the end point of the loading platform's operation, control the loading platform to move to a nearby position above the target position.

[0132] Step 1007: In response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the first operating state, it is determined that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0133] Step 1008: In response to the first transfer vehicle obtaining the operating permission of the unit area below the target location, it is determined that there is a possibility of collision between the transfer vehicle and the loading platform at the target location.

[0134] Step 1009: Control the loading platform to pause at an adjacent position until the first transfer vehicle releases the operating permission of the unit area below the target position.

[0135] Step 1010: Set the state of the unit area below the target location to a prohibited operation state for the first transfer vehicle, and control the loading platform to move from the adjacent location to the target location.

[0136] As can be seen from this embodiment, compared with the embodiment corresponding to Figure 2, the flow 1000 of the operation control method applied to the cargo storage and retrieval system in this embodiment specifically illustrates the operation control process of the vertical rail and the operation control process of the loading platform. On the basis of ensuring the operation safety of the cargo storage and retrieval system, it helps to improve the scheduling flexibility and storage and retrieval efficiency.

[0137] Referring again to Figure 11, as an implementation of the methods shown in the above figures, this disclosure provides an embodiment of an operation control device applied to a cargo storage and retrieval system. This device embodiment corresponds to the method embodiment shown in Figure 2, and the device can be specifically applied to various electronic devices.

[0138] As shown in Figure 11, the goods storage and retrieval system includes a transfer vehicle, a shelf, and a loading platform located outside the shelf and capable of running along the shelf. The transfer vehicle runs based on a unit area on its operating plane to exchange goods with the loading platform. The operation control device 1100 applied to the goods storage and retrieval system includes: a first operation unit 1101, configured to control the loading platform to run to an adjacent position above the target position in response to the target position being the end point of the loading platform's operation, wherein the loading platform at the target position has a collision possibility with at least some of the transfer vehicles in operation, and the loading platform at the adjacent position has no collision possibility with all of the transfer vehicles in operation; a probability determination unit 1102, configured to determine that there is no collision possibility between the transfer vehicle and the loading platform at the target position in response to the first transfer vehicle in the first operation state not acquiring the operation permission for the unit area below the target position; and a second operation unit 1103, configured to control the loading platform to run from the adjacent position to the target position.

[0139] In some implementations of this embodiment, the target location corresponds to the bottom storage location on the shelf, the first operating state is a high-load state characterized by goods on the lifting mechanism of the first transfer vehicle and the lifting mechanism being raised, and the aforementioned possibility determination unit 1102 is further configured to: in response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the high-load state, determine that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0140] In some implementations of this embodiment, the target location corresponds to the cache position below the bottom storage position of the shelf, the first operating state is the loading state of goods on the lifting mechanism of the first transfer vehicle, and the above-mentioned possibility determination unit 1102 is further configured to: in response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the loading state, determine that there is no possibility of collision between the transfer vehicle and the loading platform at the target location.

[0141] In some implementations of this embodiment, the probability determination unit 1102 is further configured to: determine the possibility of collision between the transfer vehicle and the loading platform at the target location in response to the first transfer vehicle acquiring the operating permission of the unit area below the target location; the second operation unit 1103 is further configured to control the loading platform to pause at an adjacent location until the first transfer vehicle releases the operating permission of the unit area below the target location.

[0142] In some implementations of this embodiment, the goods storage and retrieval system further includes a vertical rail disposed on the outside of one of two opposing shelves and capable of running horizontally, a loading platform capable of running vertically along the vertical rail, and a probability determination unit 1102 further configured to: for multiple extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the running permission of the multiple extended unit areas has not been acquired by the second transfer vehicle in the second running state of the transfer vehicle, determine that there is no possibility of collision between the transfer vehicle and the vertical rail, wherein the multiple extended unit areas are located in front of the target unit area in the horizontal running direction, and the target unit area is located below the current position of the vertical rail; the above device further includes: a third running unit (not shown in the figure), configured to set the state of the multiple extended unit areas to a prohibited running state for the second transfer vehicle, and control the vertical rail to run horizontally, wherein the state of the target unit area is a prohibited running state for the second transfer vehicle.

[0143] In some implementations of this embodiment, the second operating state is a cargo-carrying high-position state characterized by goods on the lifting mechanism of the second transfer vehicle and the lifting mechanism being raised; and the aforementioned possibility determination unit 1102 is further configured to: in response to the fact that the operating permissions of the multiple extended unit areas are not obtained by the second transfer vehicle in the cargo-carrying high-position state, determine that there is no possibility of collision between the transfer vehicle and the vertical rail.

[0144] In some implementations of this embodiment, the target unit region includes the lower unit region directly below the current position, and the previous and next unit regions of the upper and lower unit regions in the horizontal running direction. Multiple extended unit regions are located in front of the previous unit region. The device further includes a region determination unit (not shown in the figure), configured to determine the number of extended unit regions based on the current position of the vertical rail, so as to determine multiple extended unit regions.

[0145] In some implementations of this embodiment, the probability determination unit 1102 is further configured to: determine the possibility of a collision between the transfer car and the vertical rail in response to the second transfer car in the second running state acquiring the running permission of the extended unit area; the third running unit (not shown in the figure) is further configured to: control the vertical rail to pause at the current position until the second transfer car releases the running permission of the extended unit area.

[0146] In this embodiment, the first operating unit in the operation control device applied to the goods storage and retrieval system responds to the target position being the end point of the loading platform's operation and controls the loading platform to move to a nearby position above the target position. The loading platform at the target position has a collision possibility with at least some of the transfer vehicles in operation, while the loading platform at the nearby position has no collision possibility with any of the transfer vehicles in operation. The probability determination unit, responding to the fact that the operating permission for the unit area below the target position is not acquired by the first transfer vehicle in the first operation state, determines that there is no collision possibility between the transfer vehicle and the loading platform at the target position. The second operating unit controls the loading platform to move from the nearby position to the target position, thereby dividing the operation phase of the loading platform into two stages. In the first stage, the loading platform is controlled to move to a nearby position above the end point of operation. In the second stage, based on the collision possibility between the loading platform and the transfer vehicle, it is controlled whether to immediately move to the end point of operation. This approach helps improve scheduling flexibility and storage and retrieval efficiency while ensuring the operational safety of the goods storage and retrieval system.

[0147] Referring now to FIG12, a schematic diagram of the structure of a computer system 1200 suitable for implementing devices (such as devices 101, 102, 103, 105 shown in FIG1) of the embodiments of the present disclosure is shown. The device shown in FIG12 is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present disclosure.

[0148] As shown in Figure 12, the computer system 1200 includes a processor (e.g., CPU, Central Processing Unit) 1201, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1202 or a program loaded from storage section 1208 into random access memory (RAM) 1203. The RAM 1203 also stores various programs and data required for the operation of the system 1200. The processor 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0149] The following components are connected to I / O interface 1205: an input section 1206 including a keyboard, mouse, etc.; an output section 1207 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN card, modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to I / O interface 1205 as needed. Removable media 1211, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1210 as needed so that computer programs read from them can be installed into storage section 1208 as needed.

[0150] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1209, and / or installed from removable medium 1211. When the computer program is executed by processor 1201, it performs the functions defined in the methods of this disclosure.

[0151] It should be noted that the computer-readable medium of this disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0152] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the client computer, partially on the client computer, as a standalone software package, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the client computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0153] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0154] The units described in the embodiments of this disclosure can be implemented in software or hardware. The described units can also be housed in a processor; for example, it can be described as: a processor including a first operating unit, a probability determination unit, and a second operating unit. The names of these units do not necessarily limit the specific unit itself; for example, the second operating unit can also be described as "a unit that controls the movement of a loading platform from a nearby location to a target location."

[0155] In another aspect, this disclosure also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the computer device to: control the loading platform to move to an adjacent position above the target position in response to the target position being the endpoint of the loading platform's operation, wherein the loading platform at the target position has a possibility of collision with at least some of the transport vehicles in operation, and the loading platform at the adjacent position has no possibility of collision with any of the transport vehicles in operation; determine that there is no possibility of collision between the transport vehicle and the loading platform at the target position in response to the first transport vehicle in a first operation state not acquiring the operating permission for the unit area below the target position; and control the loading platform to move from the adjacent position to the target position.

[0156] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features of this disclosure that have similar functions.

Claims

1. An operation control method for a goods storage and retrieval system, the goods storage and retrieval system comprising a transfer vehicle, a shelf, and a loading platform located outside the shelf and capable of running along the shelf, the transfer vehicle running based on a unit area on its operating plane to exchange goods with the loading platform, the method comprising: In response to the destination of the loading platform being the target position, the loading platform is controlled to move to a nearby position above the target position, wherein the loading platform at the target position has the possibility of colliding with at least some of the transfer vehicles in operation, and the loading platform at the nearby position has no possibility of colliding with any of the transfer vehicles in operation. In response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the first operating state of the transfer vehicle, it is determined that there is no possibility of collision between the transfer vehicle and the loading platform at the target location; Set the state of the unit area below the target location to a prohibited operation state for the first transfer vehicle, and control the loading platform to move from the adjacent location to the target location.

2. The method according to claim 1, wherein, The target location corresponds to the lowest storage location on the shelf. The first operating state is a high-load state characterized by goods on the lifting mechanism of the first transfer vehicle and the lifting mechanism being raised. The determination that there is no possibility of collision between the transfer vehicle and the loading platform at the target location, in response to the fact that the operating permission for the unit area below the target location is not acquired by the first transfer vehicle in the first operating state, includes: In response to the fact that the operating permission of the unit area below the target position is not obtained by the first transfer vehicle in the high-position loading state, it is determined that there is no possibility of collision between the transfer vehicle and the loading platform at the target position.

3. The method according to claim 1, wherein, The target location corresponds to the buffer position below the bottom storage position of the shelf, and the first operating state indicates that there is cargo loaded on the lifting mechanism of the first transfer vehicle. The determination that there is no possibility of collision between the transfer vehicle and the loading platform at the target location, in response to the fact that the operating permission for the unit area below the target location is not acquired by the first transfer vehicle in the first operating state, includes: In response to the fact that the operating permission of the unit area below the target location has not been obtained by the first transfer vehicle in the cargo-carrying state, it is determined that there is no possibility of collision between the transfer vehicle and the cargo platform at the target location.

4. The method according to any one of claims 1-3, wherein, The method further includes: In response to the first transfer vehicle acquiring the operating permission for the unit area below the target location, it is determined that there is a possibility of collision between the transfer vehicle and the loading platform at the target location. The loading platform is controlled to pause at the adjacent position until the first transfer vehicle releases the operating permission of the unit area below the target position.

5. The method according to claim 1, wherein, The goods storage and retrieval system also includes a vertical rail located on the outside of one of two opposing shelves and capable of horizontal movement, and the loading platform capable of vertical movement along the vertical rail. The method further includes: For the multiple extended unit areas corresponding to the current position of the vertical rail, in response to the fact that the operating permission of the multiple extended unit areas has not been obtained by the second transfer vehicle in the second operating state of the transfer vehicle, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail, wherein the multiple extended unit areas are located in front of the target unit area in the horizontal running direction, and the target unit area is located below the current position of the vertical rail; The states of the multiple extended unit areas are set to a prohibited operation state for the second transfer vehicle, and the vertical rail is controlled to run horizontally, wherein the state of the target unit area is a prohibited operation state for the second transfer vehicle.

6. The method according to claim 5, wherein, The second operating state is a cargo-carrying high-position state in which there are goods on the lifting mechanism of the second transfer vehicle and the lifting mechanism has been raised. as well as The determination that there is no possibility of collision between the transfer vehicle and the vertical rail is made in response to the fact that the operating permissions of the multiple extended unit areas are not obtained by the second transfer vehicle in the second operating state of the transfer vehicle, including: In response to the fact that the operating permissions of multiple extended unit areas are not obtained by the second transfer vehicle in the cargo-carrying high position in the transfer vehicle, it is determined that there is no possibility of collision between the transfer vehicle and the vertical rail.

7. The method according to claim 5, wherein, The target unit region includes the lower unit region directly below the current position, and the preceding and following unit regions of the lower unit region in the horizontal running direction. Multiple extended unit regions are located in front of the preceding unit region. The method further includes: Based on the current position of the vertical rail, the number of the extended unit regions is determined to identify multiple extended unit regions.

8. The method according to claim 5, wherein, The method further includes: In response to the fact that the operating permission of the extended unit area is obtained by the second transfer vehicle in the second operating state of the transfer vehicle, it is determined that there is a possibility of collision between the transfer vehicle and the vertical rail; The vertical rail is kept in its current position until the second transfer vehicle releases the operating permission for the extended unit area.

9. An operation control device for a goods storage and retrieval system, the goods storage and retrieval system including a transfer vehicle, a shelf, and a loading platform located outside the shelf and operable along the shelf, the transfer vehicle operating based on a unit area on its operating plane to exchange goods with the loading platform, the device comprising: The first operating unit is configured to control the loading platform to move to a nearby position above the target position in response to the target position being the end point of the loading platform's operation. The loading platform at the target position may collide with at least some of the transfer vehicles in operation, while the loading platform at the nearby position may not collide with any of the transfer vehicles in operation. The probability determination unit is configured to determine that there is no possibility of collision between the transfer vehicle and the loading platform at the target location in response to the fact that the operating permission of the unit area below the target location is not obtained by the first transfer vehicle in the first operating state of the transfer vehicle. The second operating unit is configured to set the state of the unit area below the target location to a prohibited operating state for the first transfer vehicle, and control the loading platform to move from the adjacent location to the target location.

10. A computer-readable medium having a computer program stored thereon, wherein, When the program is executed by the processor, it implements the method as described in any one of claims 1-8.

11. An electronic device, comprising: One or more processors; Storage device, on which one or more programs are stored, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

12. A computer program product, comprising: A computer program that, when executed by a processor, implements the method according to any one of claims 1-8.

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