CN105319988A - An emulation system and method for a multi-layer shuttle-based storage and retrieval system - Google Patents
An emulation system and method for a multi-layer shuttle-based storage and retrieval system Download PDFInfo
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- CN105319988A CN105319988A CN201510783320.3A CN201510783320A CN105319988A CN 105319988 A CN105319988 A CN 105319988A CN 201510783320 A CN201510783320 A CN 201510783320A CN 105319988 A CN105319988 A CN 105319988A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides an emulation system and method for a multi-layer shuttle-based storage and retrieval system. The system and the method can increase the test efficiency and reduce the test cost. The system comprises a goods shelf module used for holding goods, the goods shelf position parameters including the serial numbers of goods shelves, the floor numbers of goods shelves, the goods cell numbers and the concrete goods allocation numbers; a lifter module used for receiving first tasks and transporting goods to the delivery caching areas or storage caching areas of the floors assigned by the corresponding tasks according to the task order of the received first tasks; a shuttle module used for receiving second tasks and transporting the goods to the goods shelf positions assigned by the corresponding tasks or to delivery caching areas of the assigned floors according to the task order of the received second tasks to finish the horizontal transportation of the goods. The system and the method are applicable to the technical field of intelligent three-dimensional storage.
Description
Technical field
The present invention relates to intelligent three-dimensional storage technique field, refer to a kind of analogue system for Multilayer shuttle car access system and method especially.
Background technology
Multilayer shuttle car access system (ShuttleBasedStorageandRetrievalSystem, SBS/RS) be the new-type automated warehouse storage system of one being applicable to box storage, its structure as shown in Figure 1, Multilayer shuttle car access system comprises: railway guidance cart system (Rail-GuidedVehiclesSystem, RGVS) goods yard, on railway guidance dolly 1 (Rail-GuidedVehicles, RGV), goods buffer area 2, shelf 3, elevator system 4.Wherein, railway guidance dolly 1 realizes the operationies on incoming and outgoing inventory of goods by the track between automatic stereowarehouse goods yard moves horizontally, and its vertical movement relies on the elevator system being placed in edge, warehouse to complete.
The system model the same with real system is set up in emulation (Emulation) in a computer, and avoid testing at real system the cost caused by emulation experiment, its principle as shown in Figure 2.In SBS/RS system, the steering logic of its daemon software is extremely important, and the developing direction of SBS/RS system also tends to control software design more sophisticated.If steering logic design is bad, because lifter and shuttle read respective task respectively, system as a whole, just there will be the deadlock of shuttle and lifter, wait as long for, conflict and the phenomenon such as inefficiency, if testing and control logic on true Multilayer shuttle car access system, the risk damaged in kind and the low problem of testing efficiency can be there is.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of analogue system for Multilayer shuttle car access system and method, existing for prior art, control logic test is carried out to real Multilayer shuttle car access system to solve, in kind damage and problem that testing efficiency is low can be caused.
For solving the problems of the technologies described above, the embodiment of the present invention provides a kind of analogue system for Multilayer shuttle car access system, comprising:
Shelf module, for depositing goods, shelf location parameter comprises: the numbering of shelf, the floor number of shelf, goods lattice number and concrete goods yard number;
Lifter module, for receiving first task, and according to the first task received task order by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area;
Shuttle module, for receiving the second task, and the outbound buffer area of the shelf location of freight transportation to corresponding task being specified according to the task order of the second task received or designated floor, complete the horizontal direction transport of goods.
Further, described lifter module comprises: cargo elevator sensor control block;
Described cargo elevator sensor control block, for when cargo elevator is in busy condition, will receives first task and be stored in first task table;
When cargo elevator is in idle condition, controls outbound buffer area or warehouse-in buffer area that cargo elevator arrives current task designated floor, after completing current task, read next task in first task table according to task order and continue to perform.
Further, when described shuttle module adopts patrolling shuttle steering logic, each floor all has a sensor control block; The sensor control block correspondence one of each floor belongs to the shuttle of This floor.
Further, the sensor control block that the first floor is corresponding, when being in busy condition for the first shuttle corresponding when the first floor, second task that will receive is stored in the second task list.
Further, the sensor control block that first floor is corresponding, be in idle condition for the first shuttle corresponding when the first floor and current task classification is outbound task time, then the state of described first shuttle is set to busy, control described first shuttle to arrive the current task shelf location of specifying and extract goods in described shelf location simultaneously, and be sent to the outbound buffer area of the first floor, after completing current task, read next task in the second task list according to task order and continue to perform.
Further, the sensor control block that first floor is corresponding, be in idle condition for the first shuttle corresponding when the first floor and current task classification is warehouse-in task time, then the state of described first shuttle is set to busy, control warehouse-in buffer area that described first shuttle arrives the first floor simultaneously and extract goods in described warehouse-in buffer area, and be sent to the shelf location that current task specifies, after completing current task, read next task in the second task list according to task order and continue to perform.
Further, when described shuttle module adopts roaming type shuttle steering logic, each floor all has a sensor control block, and different floor can share a shuttle.
Further, the sensor control block that first floor is corresponding, for when the first floor does not exist shuttle, then reads information in shuttle state table, determine the shuttle that be in idle condition nearest apart from described first floor, and control the task that this shuttle performs the first floor;
Described lifter module also comprises: shuttle lifter;
Described shuttle lifter, the shuttle that be in idle condition nearest for the first floor described in command range goes to the first floor.
Further, the sensor control block that the first floor is corresponding, for when the first floor has shuttle and described shuttle is in busy condition, second task that will receive is stored in the second task list;
When the first floor has shuttle and described shuttle is in idle condition, then the state of described shuttle is set to busy, simultaneously according to the classification of current task, goods in the shelf location of current task being specified is sent to the outbound buffer area of the first floor or the goods in the warehouse-in buffer area of the first floor is sent to the shelf location that current task specifies, after completing current task, read next task in the second task list according to task order and continue to perform.
The embodiment of the present invention also provides a kind of emulation mode for Multilayer shuttle car access system, comprising:
Receive the first task information that warehouse management system is issued, and the first task information received be stored in first task table, according to the task order in first task table by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area;
Receive the second mission bit stream that warehouse management system is issued, and the second mission bit stream received is stored in the second task list, according to the task order in the second task list, the shelf location that freight transportation to corresponding task is specified or the outbound buffer area of designated floor, complete the horizontal direction transport of goods, realize the uniting and adjustment with warehouse management system.
The beneficial effect of technique scheme of the present invention is as follows:
In such scheme, lifter module and shuttle module receive the task that warehouse management system issues respectively; Lifter module according to the task order received by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area; The outbound buffer area of the shelf location that freight transportation to corresponding task is specified according to the task order received by shuttle module or designated floor, completes the horizontal direction transport of goods.Like this, by the mode of release tasks, the analogue system of Multilayer shuttle car access system is docked with warehouse management system, analogue system is by reading the mode driving simulation of task form, produce the operation result the same with true Multilayer shuttle car access system, realize virtual test and uniting and adjustment, thus verify the accuracy of true Multilayer shuttle car access system steering logic, and can testing cost be reduced, improve testing efficiency, and Systematical control rule can be found, the steering logic of Computer Aided Design Multilayer shuttle car, the control ability of further raising system.
Accompanying drawing explanation
The structural representation of the automated warehouse storage system that Fig. 1 provides for the embodiment of the present invention;
The analogue system schematic diagram that Fig. 2 provides for the embodiment of the present invention;
The structural representation of the analogue system for Multilayer shuttle car access system that Fig. 3 provides for the embodiment of the present invention;
The steering logic schematic diagram of the cargo elevator sensor control block that Fig. 4 provides for the embodiment of the present invention;
The steering logic schematic diagram of the patrolling shuttle that Fig. 5 provides for the embodiment of the present invention;
The steering logic schematic diagram of the roaming type shuttle that Fig. 6 provides for the embodiment of the present invention;
The process flow diagram of the emulation mode for Multilayer shuttle car access system that Fig. 7 provides for the embodiment of the present invention.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The present invention is directed to and existing control logic test is carried out to real Multilayer shuttle car access system, in kind damage and problem that testing efficiency is low can be caused, a kind of analogue system for Multilayer shuttle car access system and method are provided.
Embodiment one
Shown in Fig. 3, a kind of analogue system for Multilayer shuttle car access system that the embodiment of the present invention provides, comprising:
Shelf module 101, for depositing goods, shelf location parameter comprises: the numbering of shelf, the floor number of shelf, goods lattice number and concrete goods yard number;
Lifter module 102, for receiving first task, and according to the first task received task order by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area;
Shuttle module 103, for receiving the second task, and the outbound buffer area of the shelf location of freight transportation to corresponding task being specified according to the task order of the second task received or designated floor, complete the horizontal direction transport of goods.
The analogue system for Multilayer shuttle car access system described in the embodiment of the present invention, lifter module and shuttle module receive the task that warehouse management system (Warehousemanagementsystem, WMS) issues respectively; Lifter module according to the first task received task order by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area; The outbound buffer area of the shelf location that freight transportation to corresponding task is specified according to the task order of the second task received by shuttle module or designated floor, completes the horizontal direction transport of goods.Like this, by the mode of release tasks, the analogue system of Multilayer shuttle car access system is docked with warehouse management system, analogue system is by reading the mode driving simulation of task form, produce the operation result the same with true Multilayer shuttle car access system, realize virtual test and uniting and adjustment, thus verify the accuracy of true Multilayer shuttle car access system steering logic, and can testing cost be reduced, improve testing efficiency, and Systematical control rule can be found, the steering logic of Computer Aided Design Multilayer shuttle car, the control ability of further raising system.
In the embodiment of the present invention, shelf module, for the shelf in Reality simulation Multilayer shuttle car access system.In order to a kind of simple mode can be used to find the goods on a certain concrete goods yard and goods yard, the name for goods yard must have strict naming rule.In the embodiment of the present invention, the position parameter data of shelf comprises: Rack, Shelf, Bay, Bin, and wherein, Rack represents the numbering of shelf; Shelf represents the floor number of shelf; Bay represents goods lattice number; Bin represents concrete goods yard number, if each goods lattice only has two goods yards, so the value of Bin also only has two, can represent with 0 and 1, like this, the coordinate of concrete shelf location (described shelf location also can be called position, goods yard) can be found by the such one group of data of Rack_Shelf_Bay_Bin.Further, in simulation process, shuttle just can run to concrete shelf location coordinate and finish the work, and certainly, for outbound task, also must organize data by this and find out the goods that this storage space is placed.
In the embodiment of the present invention, lifter module, for the lifter in Reality simulation Multilayer shuttle car access system, mainly realizes the transport of goods and shuttle vertical direction.In order to make the operation of whole analogue system more controlled and stable, use the control mode that job order drives.Namely lifter module reads mission bit stream all the time, completely according to task order by cargo transfer to different floor.
In the embodiment of the present invention, shuttle module, for the shuttle in Reality simulation Multilayer shuttle car access system, mainly realizes the transport of horizontal direction to goods.The same with lifter, also adopt the control mode that job order drives.Namely shuttle module reads the information of corresponding task all the time, completely according to task order by cargo transfer to different horizontal level.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, described lifter module comprises: cargo elevator sensor control block;
Described cargo elevator sensor control block, for when cargo elevator is in busy condition, will receives first task and be stored in first task table;
When cargo elevator is in idle condition, controls outbound buffer area or warehouse-in buffer area that cargo elevator arrives current task designated floor, after completing current task, read next task in first task table according to task order and continue to perform.
In the embodiment of the present invention, described cargo elevator sensor control block, mainly realizes the transport of goods vertical direction.When emulating beginning, cargo elevator sensor control block can read the first task in first task table according to task order, and go to the floor of specifying to complete picking (outbound) or goods putting (warehouse-in) task according to current task control cargo elevator: if arrive a certain outbound buffer area to carry out picking, and this outbound buffer area does not have goods, so this cargo elevator will be waited for, or wait for that goods is sent to by travelling belt, or wait for that goods is sent to by shuttle, after goods is sent to, described cargo elevator completes picking; If the task of goods putting, so cargo elevator can go to goods putting place, if the warehouse-in buffer area in goods putting place is had vacant position, then goods is put into wherein, if the warehouse-in buffer area in goods putting place does not have room, so just wait until till there is room, then goods is put into wherein.So just complete a task of specifying at last.Then cargo elevator can go to read the second task in first task table in order, and carries out the execution of task according to logic above.By the time, time all tasks complete, lifter will be parked in the last position stopped, and is not doing any operation.
In the embodiment of the present invention, referring to the steering logic that Figure 4 shows that cargo elevator sensor control block, W represents WMS, and S_E_L represents cargo elevator sensor control block (cargo elevator Sensor), and E_L represents cargo elevator.
Wherein, described WMS, for cargo elevator Sensor release tasks, sensor control block (Sensor) release tasks of each floor.
Described cargo elevator Sensor, for accepting the task from WMS, and control the operation of cargo elevator, and store tasks form T_SEL, when current task does not complete, if WMS is again to this cargo elevator Sensor release tasks, then by task record in form T_SEL, complete the task in form T_SEL after completing etc. current task again.
Described cargo elevator, for accepting the control of cargo elevator Sensor to complete outbound and warehouse-in task, each floor all has warehouse-in buffer area buffer (B_I) and outbound buffer area buffer (B_O), is used for respectively keeping in will entering the goods of shelf and leaving the goods of shelf.
In the embodiment of the present invention, shuttle module can build the realistic model of patrolling (Captive) shuttle and roaming type (Roaming) shuttle two kinds of patterns.In two kinds of patterns, the steering logic of cargo elevator is consistent, the steering logic of shuttle because of patrolling different with roaming type.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, when described shuttle module adopts patrolling shuttle steering logic, each floor all has a sensor control block; The sensor control block correspondence one of each floor belongs to the shuttle of This floor.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, the sensor control block that first floor is corresponding, when being in busy condition for the first shuttle corresponding when the first floor, second task that will receive is stored in the second task list.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, the sensor control block that first floor is corresponding, be in idle condition for the first shuttle corresponding when the first floor and current task classification is outbound task time, then the state of described first shuttle is set to busy, control described first shuttle to arrive the current task shelf location of specifying and extract goods in described shelf location simultaneously, and be sent to the outbound buffer area of the first floor, after completing current task, read next task in the second task list according to task order and continue to perform.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, the sensor control block that first floor is corresponding, be in idle condition for the first shuttle corresponding when the first floor and current task classification is warehouse-in task time, then the state of described first shuttle is set to busy, control warehouse-in buffer area that described first shuttle arrives the first floor simultaneously and extract goods in described warehouse-in buffer area, and be sent to the shelf location that current task specifies, after completing current task, read next task in the second task list according to task order and continue to perform.
In the embodiment of the present invention, when described shuttle module adopts patrolling shuttle steering logic, when emulating beginning, shuttle module reads the first task in the second task list according to task order, and according to the specifying information of task, controlling shuttle goes to the place of specifying to go to execute the task: if warehouse-in task, then first arrive warehouse-in buffer area position to go to get the goods needing warehouse-in, if do not have goods to wait in warehouse-in buffer area, waiting for that goods handling arrives by cargo elevator always, and then take goods away, just run to the shedding cargo rack position (warehouse-in goods yard place) of this goods afterwards, goods is put into wherein, if outbound task, then shuttle first runs to this shelf location needing the goods of outbound (goods yard place), take out this goods, then the outbound buffer area position of this layer is gone to, if outbound buffer area is free position, then directly goods to be put into wherein, if there is no free position, then wait for, wait until free outbound buffer area position goods is put into wherein.So just complete a task at last.Then continue the second task in reading second task list, go to finish the work according to logic above.By the time, when all tasks all complete, shuttle is just parked in the last position stopped, and no longer includes other any operation.
In the embodiment of the present invention, be illustrated in figure 5 patrolling shuttle steering logic, W represents WMS, S represents the sensor control block (Sensor) of each floor, V represents shuttle, and S_E_L represents cargo elevator Sensor, and E_L represents cargo elevator.
Wherein, described WMS, for cargo elevator Sensor release tasks, sensor control block (Sensor) release tasks of each floor.
The task of acceptance, as the control center of floor, for accepting the floor outbound of issuing from WMS or warehouse-in task, and is distributed to warehouse-in and the outbound task that the shuttle that have invoked completes floor by described Sensor; Each floor (L) all has a Sensor, there is oneself task form (T_S) in each Sensor, when current floor task does not complete, if WMS is again to this Sensor release tasks, then by task record in form T_S, complete this task again after waiting current floor task to complete.
Described shuttle, for completing concrete outbound and warehouse-in task, each floor all has a shuttle, and oneself place floor only served by each shuttle, there is two states in each shuttle: busy and idle, and Sensor can only call the shuttle being in idle condition.
Described cargo elevator Sensor, for accepting the task from WMS, and controls cargo elevator, and store tasks form T_SEL; When current task does not complete, if WMS is again to this cargo elevator Sensor release tasks, then by task record in form T_SEL, complete the task in form T_SEL after completing etc. current task again.
Described cargo elevator, for accepting the control of cargo elevator Sensor to complete outbound and warehouse-in task, each floor all has warehouse-in buffer area buffer (B_I) and outbound buffer area buffer (B_O), is used for respectively keeping in will entering the goods of shelf and leaving the goods of shelf.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, when described shuttle module adopts roaming type shuttle steering logic, each floor all has a sensor control block, and different floor can share a shuttle.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, the sensor control block that first floor is corresponding, for when there is not shuttle in the first floor, then read information in shuttle state table, determine the shuttle that be in idle condition nearest apart from described first floor, and control the task that this shuttle performs the first floor;
Described lifter module also comprises: shuttle lifter;
Described shuttle lifter, the shuttle that be in idle condition nearest for the first floor described in command range goes to the first floor.
In the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, further, the sensor control block that first floor is corresponding, for when the first floor has shuttle and described shuttle is in busy condition, second task that will receive is stored in the second task list;
When the first floor has shuttle and described shuttle is in idle condition, then the state of described shuttle is set to busy, simultaneously according to the classification of current task, goods in the shelf location of current task being specified is sent to the outbound buffer area of the first floor or the goods in the warehouse-in buffer area of the first floor is sent to the shelf location that current task specifies, after completing current task, read next task in the second task list according to task order and continue to perform.
When described shuttle module adopts roaming type shuttle steering logic,
In the embodiment of the present invention, the steering logic of roaming type shuttle and the steering logic of patrolling shuttle similar, when difference is that floor needs shuttle not having shuttle, just need to remove the shuttle finding other floor sky, can find nearest car, can be the car found farthest, can be to wait for that nearest car executes task, can be shuttle directly looking for the nearest free time etc., have a variety of logics to judge which shuttle is most suitable.
In the embodiment of the present invention, use a function to be used as finding the mode of shuttle, if need other mode, only need the computation rule changing this function.When starting to find shuttle, first reading the information in shuttle state form, finding out available free shuttle, if do not had, then again read the information in shuttle state form after waiting for the default time interval, till available free shuttle.Then by the floor information at the shuttle place of record in table, calculate the distance of available shuttle to This floor, then choose wherein nearest one, its state is set to busy, then use shuttle lifter to carry out floor gap transport to shuttle simultaneously.
In the embodiment of the present invention, be illustrated in figure 6 the steering logic of roaming type shuttle, W represents WMS, S represents the sensor control block (Sensor) of each floor, V represents shuttle, E_V represents shuttle lifter, and S_E_L represents cargo elevator Sensor, and E_L represents cargo elevator.
Wherein, described WMS, for cargo elevator Sensor release tasks, sensor control block (Sensor) release tasks of each floor.
Described Sensor is as the control center of floor, for accepting the floor outbound of issuing from WMS or warehouse-in task, find operable shuttle and call shuttle lifter and shuttle is transported to corresponding floor, and concrete task is distributed to warehouse-in and the outbound task that the shuttle that have invoked completes This floor.Each floor (L) all has a Sensor, there is oneself task form (T_S) in each Sensor, when current floor task does not complete, if WMS is again to this Sensor release tasks, then by task record in form T_S, complete this task again after waiting current floor task to complete.
Described shuttle, for completing concrete outbound and warehouse-in task.A shuttle shared by many floors.Described shuttle is subject to calling of Sensor, coordinates shuttle lifter to use between each floor.A form (T_V) is used to record the status information of all shuttles.There is two states in shuttle: busy and idle, and Sensor can only call the shuttle of idle condition.
Described shuttle lifter, for being subject to calling of Sensor, the transport between the floor of responsible shuttle.Each floor all has a buffer (B_V), needs the shuttle of transfer floor to wait for here.Be converted the shuttle of floor from entering floor here.There is a task form (T_EV) in shuttle lifter, is used for recording calling task, and perform in order.
Described cargo elevator Sensor, for accepting the task from WMS, and controls cargo elevator, and store tasks form T_SEL; When current task does not complete, if WMS is again to this cargo elevator Sensor release tasks, then by task record in form T_SEL, complete the task in form T_SEL after completing etc. current task again.
Described cargo elevator, for accepting the control of cargo elevator Sensor to complete outbound and warehouse-in task, each floor all has warehouse-in buffer area buffer (B_I) and outbound buffer area buffer (B_O), is used for respectively keeping in will entering the goods of shelf and leaving the goods of shelf.
In the embodiment of the present invention, by setting up the steering logic of lifter, patrolling shuttle and roaming type shuttle, make realistic model can be multiplexing, thus can for different simulating scenes rapid build models, by the emulation experiment of cost free, more system rule can be found, Computer Aided Design Multilayer shuttle car control software design, thus the control ability of further raising system.
Embodiment two
The present invention also provides a kind of embodiment of the emulation mode for Multilayer shuttle car access system, because the emulation mode for Multilayer shuttle car access system provided by the invention is corresponding with the embodiment of the aforementioned analogue system for Multilayer shuttle car access system, object of the present invention should can be realized by the process step performed in said method embodiment for the emulation mode of Multilayer shuttle car access system, therefore above-mentionedly to illustrate for the explanation in the analogue system embodiment of Multilayer shuttle car access system, also the embodiment of the emulation mode for Multilayer shuttle car access system provided by the invention is applicable to, to repeat no more in embodiment below the present invention.
Shown in Fig. 7, the embodiment of the present invention also provides a kind of emulation mode for Multilayer shuttle car access system, comprising:
S1, receive the first task information that warehouse management system is issued, and the first task information received is stored in first task table, according to the task order in first task table by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area;
S2, receive the second mission bit stream that warehouse management system is issued, and the second mission bit stream received is stored in the second task list, according to the task order in the second task list, the shelf location that freight transportation to corresponding task is specified or the outbound buffer area of designated floor, complete the horizontal direction transport of goods, realize the uniting and adjustment with warehouse management system.
The emulation mode for Multilayer shuttle car access system described in the embodiment of the present invention, receive the first task information that warehouse management system issues, and the first task information received is stored in first task table, according to the task order in first task table by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area; Receive the second mission bit stream that warehouse management system is issued, and the second mission bit stream received is stored in the second task list, according to the task order in the second task letter table, the shelf location of specify freight transportation to corresponding task or the outbound buffer area of designated floor, complete the horizontal direction transport of goods.Like this, by the mode of release tasks, the analogue system of Multilayer shuttle car access system is docked with real warehouse management system, analogue system is by reading the mode driving simulation of task form, produce the operation result the same with true Multilayer shuttle car access system, realize virtual test and uniting and adjustment, thus verify the accuracy of true Multilayer shuttle car access system steering logic, and can testing cost be reduced, improve testing efficiency, and Systematical control rule can be found, the steering logic of Computer Aided Design Multilayer shuttle car, the control ability of further raising system.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. for an analogue system for Multilayer shuttle car access system, it is characterized in that, comprising:
Shelf module, for depositing goods, shelf location parameter comprises: the numbering of shelf, the floor number of shelf, goods lattice number and concrete goods yard number;
Lifter module, for receiving first task, and according to the first task received task order by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area;
Shuttle module, for receiving the second task, and the outbound buffer area of the shelf location of freight transportation to corresponding task being specified according to the task order of the second task received or designated floor, complete the horizontal direction transport of goods.
2. system according to claim 1, is characterized in that, described lifter module comprises: cargo elevator sensor control block;
Described cargo elevator sensor control block, for when cargo elevator is in busy condition, will receives first task and be stored in first task table;
When cargo elevator is in idle condition, controls outbound buffer area or warehouse-in buffer area that cargo elevator arrives current task designated floor, after completing current task, read next task in first task table according to task order and continue to perform.
3. system according to claim 1, is characterized in that, when described shuttle module adopts patrolling shuttle steering logic, each floor all has a sensor control block; The sensor control block correspondence one of each floor belongs to the shuttle of This floor.
4. system according to claim 3, is characterized in that, the sensor control block that the first floor is corresponding, and when being in busy condition for the first shuttle corresponding when the first floor, second task that will receive is stored in the second task list.
5. system according to claim 4, it is characterized in that, the sensor control block that first floor is corresponding, be in idle condition for the first shuttle corresponding when the first floor and current task classification is outbound task time, then the state of described first shuttle is set to busy, control described first shuttle to arrive the current task shelf location of specifying and extract goods in described shelf location simultaneously, and be sent to the outbound buffer area of the first floor, after completing current task, read next task in the second task list according to task order and continue to perform.
6. system according to claim 4, it is characterized in that, the sensor control block that first floor is corresponding, be in idle condition for the first shuttle corresponding when the first floor and current task classification is warehouse-in task time, then the state of described first shuttle is set to busy, control warehouse-in buffer area that described first shuttle arrives the first floor simultaneously and extract goods in described warehouse-in buffer area, and be sent to the shelf location that current task specifies, after completing current task, read next task in the second task list according to task order and continue to perform.
7. system according to claim 1, is characterized in that, when described shuttle module adopts roaming type shuttle steering logic, each floor all has a sensor control block, and different floor can share a shuttle.
8. system according to claim 7, it is characterized in that, the sensor control block that first floor is corresponding, for when there is not shuttle in the first floor, then read information in shuttle state table, determine the shuttle that be in idle condition nearest apart from described first floor, and control the task that this shuttle performs the first floor;
Described lifter module also comprises: shuttle lifter;
Described shuttle lifter, the shuttle that be in idle condition nearest for the first floor described in command range goes to the first floor.
9. system according to claim 7, is characterized in that, the sensor control block that the first floor is corresponding, and for when the first floor has shuttle and described shuttle is in busy condition, second task that will receive is stored in the second task list;
When the first floor has shuttle and described shuttle is in idle condition, then the state of described shuttle is set to busy, simultaneously according to the classification of current task, goods in the shelf location of current task being specified is sent to the outbound buffer area of the first floor or the goods in the warehouse-in buffer area of the first floor is sent to the shelf location that current task specifies, after completing current task, read next task in the second task list according to task order and continue to perform.
10. for an emulation mode for Multilayer shuttle car access system, it is characterized in that, comprising:
Receive the first task information that warehouse management system is issued, and the first task information received be stored in first task table, according to the task order in first task table by freight transportation to the outbound buffer area of corresponding task designated floor or warehouse-in buffer area;
Receive the second mission bit stream that warehouse management system is issued, and the second mission bit stream received is stored in the second task list, according to the task order in the second task list, the shelf location that freight transportation to corresponding task is specified or the outbound buffer area of designated floor, complete the horizontal direction transport of goods, realize the uniting and adjustment with warehouse management system.
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