CN103112680A - Stereo logistics system access cargo path optimization control system and method - Google Patents

Abstract

The invention discloses a stereo logistics system access cargo path optimization control system and a method. The stereo logistics system access cargo path optimization control system comprises a monitoring upper computer, a programmable logic controller (PLC) module and an embedded motion controller, wherein an input end of the PLC module is connected with a plurality of cargo arrival detection sensors and a plurality of cargo position detection sensors, and an output end of the PLC module is connected with a plurality of frequency converters and a plurality of contactors. An input end of the embedded motion controller is connected with a piler state detection sensor, and an output end of the embedded motion controller is connected with an X-axis servo motor driver, a Y-axis servo motor driver and a Z-axis stepper motor driver. The method comprises the following steps: a logistics task signal is input, the upper computer is monitored to conduct path optimization, and the embedded motion controller and the PLC module respectively control the piler and a cargo conveying line to execute corresponding logistics tasks. The stereo logistics system access cargo path optimization control system and the method are reasonable in design, convenient and fast to use and operate, high in control precision, reliable in working reliability and stability, high in logistics efficiency, strong in practicability and high in popularization and application values.

Description

Three-dimensional logistics system goods storing and taking path optimization control system and method

Technical Field

The invention relates to the technical field of three-dimensional logistics system control, in particular to a three-dimensional logistics system goods storing and taking path optimization control system and method.

Background

In the three-dimensional logistics system, a stacker is a key operation mechanical device, and is the core of the whole automatic three-dimensional logistics system. Whether the stacker can normally operate or not directly influences whether the whole automatic three-dimensional logistics system can normally work or not, and the reasonable speed control, the accurate positioning design and the accurate fault diagnosis system are the key points for realizing the high-efficiency, high-accuracy and high-safety operation of the whole automatic three-dimensional logistics system. The main bottleneck for further improving the efficiency of the automatic three-dimensional logistics system is also the stacker, so that the improvement of the efficiency of the stacker is the greatest importance in improving the efficiency of the whole automatic three-dimensional logistics system.

When the stacker picks up, if the access sequence of each goods position in the picking order is changed, the picking path is changed accordingly, and in order to improve the overall operation efficiency of the stereoscopic warehouse, a path planning problem with the minimum picking time is found, which is a typical combination optimization problem and belongs to one of NP-hard (Non-polymeric hard) problems. The optimization algorithms mainly adopted aiming at the problems at present comprise a particle swarm algorithm, a simulated annealing algorithm, a neural network algorithm, a genetic algorithm, an ant colony algorithm and the like. However, a single algorithm has some drawbacks to a greater or lesser extent. For example, the ant colony algorithm has a slow convergence rate due to lack of initial information, and is easy to fall into local optimum due to the positive feedback effect of pheromones; the genetic algorithm does not utilize feedback information in a system, so that unproductive redundant iteration is caused, the solving efficiency is reduced, and in the evolution process, a large amount of cross operation needs to be carried out, so that extra calculation overhead is brought, the scheduling time is increased, and the real-time requirement in the actual engineering is difficult to meet. Moreover, the conventional control method of the three-dimensional logistics system can only realize the operation of warehousing and exporting single goods of the stacker, so that the operation efficiency of the control method of the three-dimensional logistics system is necessarily greatly reduced under the condition that large batches of goods need to be warehoused and exported.

Moreover, in the control system of the three-dimensional logistics system in the prior art, the control of most of stackers is realized by adopting a PLC and a frequency converter, the start and stop of the stackers are not stable in the control mode, so that the stackers generate large vibration when being started and stopped, the service life of the stackers is seriously influenced, and the safety of carrying goods is influenced by overlarge vibration. Generally, the control system of the three-dimensional logistics system in the prior art also has the defects of low control precision, low working reliability, high failure rate and low logistics efficiency.

Disclosure of Invention

The invention aims to solve the technical problem of providing the optimized control system for the goods storing and taking path of the three-dimensional logistics system, which has the advantages of simple structure, reasonable design, convenience in implementation, convenience in use and operation, high control precision, high working reliability and high stability, and aims to overcome the defects in the prior art.

In order to solve the technical problems, the invention adopts the technical scheme that: a goods storing and taking path optimization control system of a three-dimensional logistics system comprises goods shelves, a stacker and a goods conveying line, wherein the goods shelves are composed of a front row of goods shelves and a rear row of goods shelves which are arranged at intervals, a stacker track for the stacker to operate is arranged between the front row of goods shelves and the rear row of goods shelves, the goods conveying line is composed of a belt conveying line, a roller conveying line and a double-speed chain conveying line, the belt conveying line, the roller conveying line, the double-speed chain conveying line and the front row of goods shelves are sequentially and adjacently surrounded into a rectangular shape from head to tail, a goods inlet platform is arranged between the double-speed chain conveying line and the front row of goods shelves, a goods outlet platform is arranged between the front row of goods shelves and the belt conveying line, a first corner turning machine is arranged between the belt conveying line and the roller conveying line, a second corner turning machine is arranged between the roller conveying line and the double-speed chain conveying line, the double-speed chain conveying line is provided with a station stopper, the goods inlet table is driven by a goods inlet table motor to operate, the goods outlet table is driven by a goods outlet table motor to operate, the belt conveying line is driven by a belt conveying line motor to operate, the roller conveying line is driven by a roller conveying line motor to operate, the double-speed chain conveying line is driven by a double-speed chain conveying line motor to operate, a belt of the first corner turning machine is driven by a first corner turning machine motor to forward or reverse to convey goods on the first corner turning machine, the first corner turning machine is driven by a first corner turning machine air pump and a first corner turning machine air cylinder connected with the first corner turning machine air pump to forward or rotate, a belt of the second corner turning machine is driven by a second corner turning machine motor to forward or reverse to convey goods on the second corner turning machine, and the second corner turning machine is driven by a second corner machine air pump and a second corner machine air cylinder connected with the second corner turning machine to forward or rotate, the stacker is driven to operate by an X-axis servo motor, a Y-axis servo motor and a Z-axis stepping motor; the method is characterized in that: the goods storing and taking path optimizing control system comprises a goods transportation line control cabinet, a stacker motion control cabinet and a monitoring upper computer, wherein a PLC module used for controlling a goods transportation line and a first Profibus bus communication module connected with the PLC module are arranged in the goods transportation line control cabinet, an embedded motion controller used for controlling the stacker is arranged in the stacker motion control cabinet, a second Profibus bus communication module is integrated in the embedded motion controller, the PLC module is connected and communicated with the monitoring upper computer through the first Profibus bus communication module, the embedded motion controller is connected and communicated with the monitoring upper computer through the second Profibus bus communication module, the input end of the PLC module is connected with a goods entering table goods arriving detection sensor arranged on the goods entering table, a plurality of belt goods position detection sensors arranged on the belt transportation line and used for detecting the running position of goods on the belt transportation line, A first corner machine arrival detection sensor arranged on a first corner machine, a plurality of roller goods position detection sensors arranged on a roller transportation line and used for detecting the running position of goods on the roller transportation line, a second corner machine arrival detection sensor arranged on a second corner machine, a plurality of speed chain goods position detection sensors arranged on a speed chain transportation line and used for detecting the running position of goods on the speed chain transportation line, and a delivery platform arrival detection sensor arranged on a delivery platform, wherein the output end of the PLC module is connected with a belt transportation line frequency converter used for carrying out frequency conversion speed regulation on the belt transportation line motor, a roller transportation line frequency converter used for carrying out frequency conversion speed regulation on the roller transportation line motor, a speed chain transportation line frequency converter used for carrying out frequency conversion speed regulation on the speed chain transportation line motor, and a delivery platform contactor used for controlling the start and stop of the delivery platform motor, A first corner machine motor forward rotation contactor for controlling the forward rotation of a first corner machine motor, a first corner machine motor reverse rotation contactor for controlling the reverse rotation of the first corner machine motor, a first corner machine air pump inflation relay for controlling the inflation of a first corner machine air pump, a first corner machine air pump deflation relay for controlling the deflation of the first corner machine air pump, a second corner machine motor forward rotation contactor for controlling the forward rotation of a second corner machine motor, a second corner machine motor reverse rotation contactor for controlling the reverse rotation of the second corner machine motor, a second corner machine air pump inflation relay for controlling the inflation of the second corner machine air pump, a second corner machine air pump deflation relay for controlling the deflation of the second corner machine air pump, a delivery platform contactor for controlling the start and stop of the delivery platform motor and a station stopper contactor for controlling the extension of the station stopper, wherein the belt transport line motor is connected with the belt transport line frequency converter, the rotary drum conveying line motor is connected with the rotary drum conveying line frequency converter, the speed-multiplying chain conveying line motor is connected with the speed-multiplying chain conveying line frequency converter, the loading platform contactor is connected in series in a power supply loop of the loading platform motor, the first corner machine motor forward rotation contactor and the first corner machine motor reverse rotation contactor are connected in parallel and then connected in series in a power supply loop of the first corner machine motor, the first corner machine air pump inflation relay and the first corner machine air pump deflation relay are connected in parallel and then connected in series in a power supply loop of the first corner machine air pump, the second corner machine motor forward rotation contactor and the second corner machine reverse rotation contactor are connected in parallel and then connected in series in a power supply loop of the second corner machine motor, the second corner machine inflation relay and the second corner machine air pump deflation relay are connected in parallel and then connected in series in a power supply loop of the second corner machine air pump, the delivery platform contactor is connected in series in a power supply loop of a delivery platform motor, and the station stopper contactor is connected in series in a power supply loop of a station stopper; the input end of the embedded motion controller is connected with a stacker state detection sensor for detecting the working state of a stacker, the output end of the embedded motion controller is connected with an X-axis servo motor driver, a Y-axis servo motor driver and a Z-axis stepping motor driver, the X-axis servo motor is connected with the X-axis servo motor driver, the Y-axis servo motor is connected with the Y-axis servo motor driver, and the Z-axis stepping motor is connected with the Z-axis stepping motor driver.

The three-dimensional logistics system goods access path optimization control system is characterized in that: the monitoring upper computer is an industrial control computer.

The three-dimensional logistics system goods access path optimization control system is characterized in that: the PLC module is an S700 series PLC module, and the first Profibus bus communication module is an EM277 communication module.

The three-dimensional logistics system goods access path optimization control system is characterized in that: the embedded motion controller is a fixed-height GT series motion controller.

The three-dimensional logistics system goods access path optimization control system is characterized in that: it is photoelectric sensor to go into goods platform and arrive goods detection sensor, belt goods position detection sensor and delivery platform and arrive goods detection sensor, cylinder goods position detection sensor, doubly fast chain goods position detection sensor, first corner machine arrive goods detection sensor and second corner machine and arrive goods detection sensor and be stroke sensor, the quantity of station stopper is a plurality of and corresponds the setting respectively and be a plurality of doubly fast chain goods position detection sensor's rear.

The three-dimensional logistics system goods access path optimization control system is characterized in that: the stacker state detection sensor comprises a plurality of stacker running position detection sensors which are arranged on a stacker track and used for detecting the running positions of the stacker on the stacker track and a stacker carrying platform position detection sensor which is arranged on a stacker frame right below a carrying platform of the stacker and used for detecting the position of the carrying platform of the stacker.

The three-dimensional logistics system goods access path optimization control system is characterized in that: the stacker running position detection sensors and the stacker carrying platform position detection sensors are all microswitches, the number of the stacker running position detection sensors is four, two of the stacker running position detection sensors are arranged at the head end of the stacker track at intervals, and the other two stacker running position detection sensors are arranged at the tail end of the stacker track at intervals; the number of the stacker cargo carrying platform position detection sensors is two.

The invention also provides a goods access path optimization control method of the three-dimensional logistics system, which has high reliability and stability, can rapidly realize logistics path planning and can operate orderly and rapidly, and is characterized by comprising the following steps:

step one, logistics task signal input: the method comprises the steps that a sorting goods position number is input through operating a monitoring upper computer, logistics control signals for warehouse exit, processing, warehousing or warehouse movement are input, and the goods position number and the logistics control signals are written into a logistics system database stored in advance by the monitoring upper computer;

step two, logistics task execution, which comprises the following specific processes:

step 201, the monitoring upper computer calls an ACA-PGA path optimization module and performs path optimization by adopting an ACA algorithm and a PGA algorithm to obtain an optimized logistics sequence;

step 202, the monitoring upper computer transmits the optimized logistics sequence obtained in the step 201 to the embedded motion controller through the second Profibus bus communication module, outputs corresponding control signals according to the logistics control signals and transmits the control signals to the PLC module through the first Profibus bus communication module, the embedded motion controller and the PLC module respectively control the stacker and the goods transportation line to execute corresponding logistics tasks, and the specific process is as follows:

when the logistics control signal is outbound:

2021. the embedded motion controller outputs corresponding control signals to an X-axis servo motor driver, a Y-axis servo motor driver and a Z-axis stepping motor driver according to the received optimized logistics sequence, the X-axis servo motor driver drives an X-axis servo motor to act, the Y-axis servo motor driver drives a Y-axis servo motor to act, the Z-axis stepping motor driver drives a Z-axis stepping motor to act, the X-axis servo motor, the Y-axis servo motor and the Z-axis stepping motor drive the stacker to operate according to the optimized logistics sequence, and goods are taken out from the goods shelf and placed on a goods carrying table of the stacker according to the optimized logistics sequence;

2022. the X-axis servo motor, the Y-axis servo motor and the Z-axis stepping motor drive the stacker to move to the position of the goods delivery table, and goods are placed on the goods delivery table;

2023. the goods delivery platform arrival detection sensor detects the goods delivery platform arrival information in real time and outputs the detected signal to the PLC module, after the PLC module receives the goods delivery platform arrival signal output by the goods delivery platform arrival detection sensor, the PLC module controls a goods delivery platform contactor to be communicated with a power supply loop of a goods delivery platform motor, the goods delivery platform motor drives the goods delivery platform to operate, a belt conveying line motor is controlled by a belt conveying line frequency converter to drive the belt conveying line to operate, the goods are transmitted to the belt conveying line by the goods delivery platform, the belt goods position detection sensors detect the operation position of the goods on the belt conveying line in real time and output the detected signal to the PLC module, the PLC module receives the signals output by the belt goods position detection sensors and analyzes and processes the signals, and when the PLC module judges that the goods arrive at the belt conveying line, the PLC module controls the discharge platform contactor to disconnect a power supply loop of a discharge platform motor, and the discharge platform motor stops driving the discharge platform to operate;

2024. when the PLC module judges that the goods on the belt conveying line reach the middle position of the belt conveying line, the PLC module controls a motor of the belt conveying line to stop driving the belt conveying line to operate through a belt conveying line frequency converter;

2025. manually taking down the goods from the belt conveying line, and finishing the goods delivery;

when the stream control signal is in-bin:

2026. manually placing the goods on a speed-multiplying chain conveying line, controlling a roller conveying line motor to drive the speed-multiplying chain conveying line to operate by a PLC module through a speed-multiplying chain conveying line frequency converter, detecting the operation position of the goods on the speed-multiplying chain conveying line in real time by a plurality of speed-multiplying chain goods position detection sensors and outputting the detected signal to the PLC module, and receiving the signals output by the speed-multiplying chain goods position detection sensors by the PLC module and analyzing the signals;

2027. when the PLC module judges that goods are sent out from the double-speed chain transport line, the PLC module controls a goods entering platform contactor to be connected with a power supply loop of a goods entering platform motor, the goods entering platform motor drives the goods entering platform to operate, the goods entering platform to goods detection sensor detects goods entering platform to goods information in real time and outputs a detected signal to the PLC module, when the PLC module receives a goods entering platform to goods signal output by the goods entering platform to goods detection sensor, the PLC module controls the goods entering platform contactor to disconnect the power supply loop of the goods entering platform motor, and the goods entering platform motor stops driving the goods entering platform to operate;

2028. the embedded motion controller outputs corresponding control signals to an X-axis servo motor driver, a Y-axis servo motor driver and a Z-axis stepping motor driver, the X-axis servo motor driver drives an X-axis servo motor to act, the Y-axis servo motor driver drives a Y-axis servo motor to act, the Z-axis stepping motor driver drives a Z-axis stepping motor to act, the X-axis servo motor, the Y-axis servo motor and the Z-axis stepping motor drive the stacker to operate to the position of the goods-entering table, and goods are placed on a goods-carrying table of the stacker from the goods-entering table;

2029. the embedded motion controller outputs corresponding control signals to an X-axis servo motor driver, a Y-axis servo motor driver and a Z-axis stepping motor driver according to the received optimized logistics sequence, the X-axis servo motor, the Y-axis servo motor and the Z-axis stepping motor drive the stacker to operate according to the optimized logistics sequence, goods on the goods carrying table are sequentially placed on the goods shelf according to the optimized logistics sequence, and the goods are put into the warehouse;

when the logistics control signal is a bank shift:

20210. the embedded motion controller outputs corresponding control signals to an X-axis servo motor driver, a Y-axis servo motor driver and a Z-axis stepping motor driver according to the received optimized logistics sequence, the X-axis servo motor driver drives an X-axis servo motor to act, the Y-axis servo motor driver drives a Y-axis servo motor to act, the Z-axis stepping motor driver drives a Z-axis stepping motor to act, the X-axis servo motor, the Y-axis servo motor and the Z-axis stepping motor drive the stacker to operate according to the optimized logistics sequence, goods are sequentially taken out from the existing goods positions according to the optimized logistics sequence and stored on the target goods positions, and the goods are moved to the warehouse;

when the material flow control signal is processed:

20211. the embedded motion controller and the PLC module control the stacker, the delivery platform and the belt transport line to execute the logistics task of delivery according to the logistics control signal as the process 2021-2023 during delivery;

20212. when the PLC module judges that goods on the belt conveying line reach the goods discharging position of the belt conveying line, the PLC module is connected with a power supply loop of a first corner machine motor through controlling a first corner machine motor forward rotation contactor, the first corner machine motor rotates forwards and drives a belt of the first corner machine to convey the goods to the first corner machine in a forward direction, a first corner machine goods arrival detection sensor detects goods arrival information of the first corner machine in real time and outputs detected signals to the PLC module, when the PLC module receives first corner machine goods arrival signals output by the first corner machine goods arrival detection sensor, the PLC module controls the first corner machine motor forward rotation contactor to disconnect the power supply loop of the first corner machine motor, and the first corner machine motor stops rotating forwards;

20213. the PLC module controls a first corner machine air pump inflation relay to be connected with a power supply loop of a first corner machine air pump, the first corner machine air pump inflates air and enables a first corner machine air cylinder to drive a first corner machine to rotate forward by 90 degrees, after the first corner machine rotates to a position, the PLC module controls a roller conveying line motor to drive a roller conveying line to operate through a roller conveying line frequency converter, a plurality of roller goods position detection sensors detect the operation positions of goods on the roller conveying line in real time and output detected signals to the PLC module, the PLC module receives the signals output by the plurality of roller goods position detection sensors and analyzes and processes the signals, when the PLC module judges that goods are conveyed to the roller conveying line, the PLC module controls the first corner machine inflation relay to be disconnected with the power supply loop of the first corner machine air pump and controls a first corner machine air pump deflation relay to be connected with the power supply loop of the first corner machine air pump, the air pump of the first angle turning machine is deflated, and the air cylinder of the first angle turning machine drives the first angle turning machine to rotate for 90 degrees to return;

20214. when the PLC module judges that goods are sent out from the roller transportation line, the PLC module is connected with a power supply loop of a second corner machine motor through controlling a second corner machine motor forward rotation contactor, the second corner machine motor rotates forwards and drives a belt of the second corner machine to convey the goods to the second corner machine in a forward direction, a second corner machine to goods detection sensor detects second corner machine to goods information in real time and outputs a detected signal to the PLC module, and after the PLC module receives a second corner machine to goods signal output by the second corner machine to goods detection sensor, the PLC module controls the second corner machine forward rotation contactor to disconnect the power supply loop of the second corner machine motor, and the second corner machine stops forward rotation;

20215. the PLC module controls a second corner machine air pump inflation relay to be connected with a power supply loop of a second corner machine air pump, the second corner machine air pump inflates air and enables a second corner machine air cylinder to drive a second corner machine to rotate forward by 90 degrees, after the second corner machine rotates to a position, the PLC module controls a speed-multiplying chain conveying line motor to drive a speed-multiplying chain conveying line to run through a speed-multiplying chain conveying line frequency converter, a plurality of speed-multiplying chain cargo position detection sensors detect the running position of a cargo on the speed-multiplying chain conveying line in real time and output the detected signal to the PLC module, the PLC module receives the signals output by the speed-multiplying chain cargo position detection sensors and analyzes and processes the signals, and when the PLC module judges that the cargo is conveyed to the speed-multiplying chain conveying line, the PLC module controls the second corner machine air pump inflation relay to be disconnected with the power supply loop of the second corner machine air pump, a second corner machine air pump inflation relay is controlled to be connected with a power supply loop of a second corner machine air pump, the second corner machine air pump is deflated, and a second corner machine air cylinder drives the second corner machine to rotate by 90 degrees to return;

20216. the PLC module judges the position of the goods on the speed-multiplying chain transportation line according to signals output by the speed-multiplying chain goods position detection sensors, delays for a period of time, controls a station stopper contactor at a corresponding position to be connected with a power supply loop of a station stopper after the processing time is reached, retracts the station stopper from the speed-multiplying chain transportation line, releases the blockage, and continuously transmits the goods on the speed-multiplying chain transportation line;

20217. when the PLC module judges that goods are sent out from the speed-multiplying chain conveying line, the PLC module and the embedded motion controller control the speed-multiplying chain conveying line, the goods entering table and the stacker to execute warehousing logistics tasks according to the logistics control signals in warehousing processes 2027-2029, and the goods are processed after warehousing is finished.

The above method is characterized in that: in step 201, the monitoring upper computer calls an ACA-PGA path optimization module and before path optimization is performed by using an ACA algorithm and a PGA algorithm, the monitoring upper computer calls a fault detection module to detect faults of empty goods position delivery, full goods position storage, goods carrying platform state error, data communication error and instruction transmission error of the system, and when the faults are detected, the monitoring upper computer sends fault alarm signals, records fault information and displays the fault information.

The above method is characterized in that: the specific process that the monitoring upper computer calls the ACA-PGA path optimization module and performs path optimization by using the ACA algorithm and the PGA algorithm in step 201 is as follows:

step (ii) of2011. Initializing parameters: let time t =0, number of cycles N_c0, initial pheromone tau on the path from cargo site i to cargo site j_ij＝τ₀The number of ants is m, and the taboo list of each ant is empty; setting the maximum iteration times maxgen, the search path cycle times round and the gene transposition probability p_hShift probability p_yAnd the probability of inversion p_d；

Step 2012, initializing an ant colony: setting an additional cargo site with the number of 0, wherein the coordinates of the additional cargo site are as follows, placing m ants at the additional cargo site, and adding the number of 0 of the additional cargo site into a respective taboo table of each ant;

step 2013, circularly searching paths: firstly, according to the formula

$j=\left\{\begin{array}{cc}\arg \underset{u\∈U}{\max }\left[{\left({\mathrm{\τ}}_{\mathrm{iu}}\right)}^{\mathrm{\α}}{\left({\mathrm{\η}}_{\mathrm{iu}}\right)}^{\mathrm{\β}}\right],& q\≤q_0\\ J,& q>q_0\end{array}\right.$

Selecting the next coordinate as (X)_j,Y_j) Recording the number j of the goods position to be selected, and adding the number j into a respective taboo table of each ant; wherein, tau_iuIntensity of pheromone track on path from cargo space i to cargo space u, eta_iuGet η for visibility of the path from cargo space i to cargo space u and express the heuristic information of transferring cargo space i to cargo space u_iu=1/d_iu，d_iuIs the distance between the cargo space i and the cargo space u, α is the relative importance of the pheromone track, β is the relative importance of the heuristic information, and q is at [0,1]Random numbers, q, evenly distributed within the interval₀Q is more than or equal to 0 and is used for searching the setting parameters of the path for the ants₀Less than or equal to 1, U is the set of all the picking positions; j is a formula for selecting probability according to path

Selected cargo space, wherein_ijIntensity of pheromone track on the path from cargo space i to cargo space j_ijGet η for visibility of the path from cargo space i to cargo space j and the heuristic information indicating the transfer of cargo space i to cargo space j_ij=1/d_ij，d_ijThe distance between the cargo space i and the cargo space j;

then, according to the formula

τ_ij(t+1)=ρ·τ_ij(t)+(1-ρ)Δτ_ij(t)

Carrying out local updating on the pheromone quantity on the path; wherein rho is a persistence coefficient of the local update pheromone track, rho is more than or equal to 0 and less than or equal to 1, and delta tau_ij(t) is the amount of change in pheromone and

${\mathrm{\Δ\τ}}_{\mathrm{ij}}\left(t\right)=\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{\mathrm{\Δ\τ}}_{\mathrm{ij}}^k\left(t\right)$

wherein,

pheromone increment left on a path between cargo i and cargo j for ant k passing through the path

Wherein k is an integer and has a value range of 1-m, Q is the total amount of pheromones, and L_kThe total length of the path taken by the ant k in the cycle;

step 2014, judging whether the ants traverse all the picking sites, forming m picking orders in m taboo tables when the ants traverse all the picking sites, then executing step 2015, and returning to step 2013 if not;

step 2015, taking m tabu lists of m ants after the ants pass through a circular search path as m chromosomes, and taking the m chromosomes as an initial population;

step 2016, first, sorting the goods according to the m goods positions recorded in the m tabu tables and according to a formulaCalculating fitness values F for all individuals, wherein T_nIn order to pay the time cost according to the nth goods position sorting sequence in the taboo table, n is an integer and the value range is 1-m; then, arranging the m chromosomes from large to small according to the fitness value; then, storing the first 30% of the m chromosomes which are arranged from large to small;

step 2017, firstly, the gene transposition probability p set in step 2011 is applied to the last 70% of m chromosomes arranged from large to small_hShift probability p_yAnd the probability of inversion p_dPerforming gene recombination operations of transposition, shifting and inversion to generate m new chromosomes; then, adding m new chromosomes into the initial population to form a new population, wherein a new goods position picking sequence is recorded in the new population;

step 2018, judging whether the genetic evolution reaches the maximum iteration number maxgen set in the step 2011, if so, executing the step 2019, otherwise, returning to the step 2016;

step 2019, first, according to the new goods position sorting order recorded in the new population and according to the formula

Calculating fitness values F for all individuals, wherein T_qIn order to pay the time cost according to the q-th goods position picking sequence in the new population, the value of q is an integer smaller than the number of all individuals in the new population; then, taking the individual with the maximum fitness value as a new global optimal solution;

20110, first, according to the formula

τ_ij(t+1)=γ·τ_ij(t)+(1-γ)Δτ_ij(t)

Performing global pheromone updating, judging whether the loop times round of the search path set in the step 2011 are reached, if so, outputting the optimal solution in the step 2019 and emptying a tabu table, and if not, returning to the step 2013; wherein gamma is a global update pheromoneThe persistence coefficient of the track is more than or equal to 0 and less than or equal to 1, delta tau_ij(t) is the amount of change in pheromone and

${\mathrm{\Δ\τ}}_{\mathrm{ij}}\left(t\right)=\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{\mathrm{\Δ\τ}}_{\mathrm{ij}}^k\left(t\right)$

wherein,

pheromone increment left on a path between cargo i and cargo j for ant k passing through the path

Wherein k is an integer and has a value range of 1-m, Q is the total amount of pheromones, and L_kThe total length of the path taken by the ant k in the current cycle.

Compared with the prior art, the invention has the following advantages:

1. the control system adopts an integrated and modularized design, and has the advantages of simple structure, reasonable design and convenient implementation.

2. The stacker is controlled by the solid-high GT series motion controller, high-performance control calculation can be realized by the solid-high GT series motion controller, the X-axis servo motor is driven by the X-axis servo motor driver, the Y-axis servo motor is driven by the Y-axis servo motor driver, the operation of the stacker is more stable, the positioning precision is more accurate, the service life of the stacker can be greatly prolonged, and the potential safety hazard in the operation of a three-dimensional logistics system is reduced.

3. The control method adopts a path optimization method combining an ACA (Ant Colony Al algorithm) and a PGA (partial Genetic Al algorithm) and adds the single Genetic algorithm into each iteration of the Ant Colony system, thereby providing a new control method of the single Genetic Ant Colony algorithm.

4. The invention can not only carry out the warehouse-out, warehouse-in, warehouse-moving or processing operation of a plurality of goods at one time, but also optimize the path and the sequence of the picking operation on the basis, can orderly and rapidly operate, simplifies the operation of the conventional three-dimensional logistics system on the premise of not influencing the functions of the three-dimensional logistics system, has high operation efficiency, is convenient for personnel to operate and monitor in real time, and greatly improves the efficiency of the whole logistics system.

5. The three-dimensional logistics system has the advantages of high operation control precision, good rapidness, time and labor conservation, capability of carrying out real-time control operation and fault diagnosis, high reliability and stability of the whole system, high operation efficiency of the three-dimensional logistics system, strong practicability and high popularization and application values.

6. The method for monitoring the upper computer to call the ACA-PGA path optimization module and performing path optimization by adopting the ACA algorithm and the PGA algorithm in the control method can be popularized to the optimization control of other logistics systems, and lays a foundation for the quick action of the logistics systems.

In conclusion, the invention has the advantages of reasonable design, convenient realization, convenient use and operation, high control precision, high working reliability and stability, high logistics efficiency, strong practicability and high popularization and application value.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic block circuit diagram of the control system of the present invention.

Fig. 2 is a schematic structural diagram of the three-dimensional material system of the present invention.

FIG. 3 is a flow chart of a control method according to the present invention.

Fig. 4 is a flowchart of the monitoring host computer invoking the ACA-PGA path optimization module to perform path optimization according to the present invention.

Fig. 5 is a simulation diagram of an optimized logistics sequence path obtained by calling an ACA-PGA path optimization module by a monitoring upper computer according to the present invention.

FIG. 6 is a diagram of a random stacker picking operation path simulation of the present invention.

Description of reference numerals:

1-a PLC module; 1-2-a first Profibus bus communication module;

1-3-belt line frequency converter; 1-4-drum transport line frequency converter;

1-5-times speed chain conveying line frequency converter; 1-6-a loading platform contactor;

1-7-a first rotating contactor of a rotating angle machine motor; 1-8-a first corner machine motor reversing contactor; 1-9-a first corner machine air pump inflation relay; 1-10-a first corner engine air pump deflation relay; 1-11-a second corner motor forward rotation contactor; 1-12-a second corner motor reverse contactor; 1-13-a second corner machine air pump inflation relay; 1-14-a second corner machine air pump deflation relay; 1-15-a delivery platform contactor; 1-16-station blocker contactor;

2-1 — an embedded motion controller; 2-a second P rofi bus communication module; 2-3-X axis servo motor driver; 2-4-Y axis servo motor driver;

2-5-Z axis stepper motor driver; 3, monitoring an upper computer;

4-a goods arrival detection sensor on the goods entering platform; 5-belt goods position detecting sensor;

6-a first corner machine arrival detection sensor; 7-drum cargo position detection sensor;

8-a second corner machine arrival detection sensor; 9-speed chain cargo position detection sensor;

10-delivery platform arrival detection sensor; 11-a stacker running position detecting sensor;

12-a stacker carrying platform position detection sensor; 13-front row shelf;

14-rear row shelf; 15-stacker rail; 16-a stacker;

17-belt conveying line; 18-roller transport line; 19-speed chain transport line;

20-a loading platform; 21-a delivery platform; 22-a first corner machine;

23-a second corner machine; 24-station stopper; 25-a cargo bed motor;

26-a delivery platform motor; 27-belt conveyor line motor; 28-roller transport line motor;

29-speed chain conveyor line motor; 30-a first corner machine air pump;

31-a second corner machine air pump; 32-X axis servo motor; 33-Y axis servo motor;

34-Z axis stepper motor; 35-a first corner machine motor; 36-second corner machine motor.

Detailed Description

As shown in fig. 1 and 2, the three-dimensional logistics system goods storing and taking path optimization control system of the invention comprises a goods shelf, a stacker 16 and a goods transportation line, wherein the goods shelf is composed of a front row goods shelf 13 and a rear row goods shelf 14 which are arranged at intervals, a stacker track 15 for the stacker 16 to run is arranged between the front row goods shelf 13 and the rear row goods shelf 14, the goods transportation line is composed of a belt transportation line 17, a roller transportation line 18 and a double speed chain transportation line 19, the belt transportation line 17, the roller transportation line 18, the double speed chain transportation line 19 and the front row goods shelf 13 are sequentially and adjacently enclosed into a rectangular shape, a goods entering platform 20 is arranged between the double speed chain transportation line 19 and the front row goods shelf 13, a goods exiting platform 21 is arranged between the front row goods shelf 13 and the belt transportation line 17, a first corner turning machine 22 is arranged between the belt transportation line 17 and the roller transportation line 18, a second corner machine 23 is arranged between the roller conveying line 18 and the double-speed chain conveying line 19, a station stopper 24 is arranged on the double-speed chain conveying line 19, the cargo inlet table 20 is driven by a cargo inlet table motor 25 to operate, the cargo outlet table 21 is driven by a cargo outlet table motor 26 to operate, the belt conveying line 17 is driven by a belt conveying line motor 27 to operate, the roller conveying line 18 is driven by a roller conveying line motor 28 to operate, the double-speed chain conveying line 19 is driven by a double-speed chain conveying line motor 29 to operate, a belt of the first corner machine 22 is driven by a first corner machine motor 35 to forward or reverse to convey and convey cargos to and from the first corner machine 22, the first corner machine 22 is driven by a first corner machine air pump 30 and a first corner machine air cylinder connected with the first corner machine air pump 30 to rotate, a belt of the second corner machine 23 is driven by a second corner machine motor 36 to forward or reverse to convey cargos to and from the second corner machine 23, the second corner turning machine 23 is driven by a second corner turning machine air pump 31 and a second corner turning machine air cylinder connected with the second corner turning machine air pump 31 to rotate positively or reversely, and the stacker 16 is driven by an X-axis servo motor 32, a Y-axis servo motor 33 and a Z-axis stepping motor 34 to operate; the goods storing and taking path optimizing control system comprises a goods transportation line control cabinet, a stacker motion control cabinet and a monitoring upper computer 3, wherein a PLC module 1-1 for controlling a goods transportation line and a first Profibus bus communication module 1-2 connected with the PLC module 1-1 are arranged in the goods transportation line control cabinet, an embedded motion controller 2-1 for controlling a stacker 16 is arranged in the stacker motion control cabinet, a second Profibus bus communication module 2-2 is integrated in the embedded motion controller 2-1, the PLC module 1-1 is connected with and communicates with the monitoring upper computer 3 through the first Profibus bus communication module 1-2, the embedded motion controller 2-1 is connected with and communicates with the monitoring upper computer 3 through the second Profibus bus communication module 2-2, the input end of the PLC module 1-1 is connected with a goods-entering platform arrival detection sensor 4 arranged on a goods-entering platform 20, a plurality of belt goods position detection sensors 5 arranged on a belt transport line 17 and used for detecting the running position of goods on the belt transport line 17, a first corner machine arrival detection sensor 6 arranged on a first corner machine 22, a plurality of roller goods position detection sensors 7 arranged on a roller transport line 18 and used for detecting the running position of goods on the roller transport line 18, a second corner machine arrival detection sensor 8 arranged on a second corner machine 23, a plurality of speed chain goods position detection sensors 9 arranged on a speed chain transport line 19 and used for detecting the running position of goods on the speed chain transport line 19 and a goods-exiting platform arrival detection sensor 10 arranged on a goods-exiting platform 21, the output end of the PLC module 1-1 is connected with a belt transport line frequency converter 1-3 for carrying out frequency conversion speed regulation on a belt transport line motor 27, a roller transport line frequency converter 1-4 for carrying out frequency conversion speed regulation on a roller transport line motor 28, a speed-multiplying chain transport line frequency converter 1-5 for carrying out frequency conversion speed regulation on a speed-multiplying chain transport line motor 29, a cargo entering platform contactor 1-6 for controlling the start and stop of a cargo entering platform motor 25, a first corner machine motor forward rotation contactor 1-7 for controlling the forward rotation of a first corner machine motor 35, a first corner machine motor reverse rotation contactor 1-8 for controlling the reverse rotation of the first corner machine motor 35, a first corner machine inflation relay 1-9 for controlling the inflation of a first corner machine air pump 30, a first corner machine air pump deflation relay 1-10 for controlling the deflation of the first corner machine air pump 30, a second corner machine air pump deflation relay 1-10, A second corner machine motor forward rotation contactor 1-11 for controlling the second corner machine motor 36 to rotate forward, a second corner machine motor reverse rotation contactor 1-12 for controlling the second corner machine motor 36 to rotate reversely, a second corner machine air pump inflation relay 1-13 for controlling the second corner machine air pump 31 to inflate, a second corner machine air pump deflation relay 1-14 for controlling the second corner machine air pump 31 to deflate, a delivery platform contactor 1-15 for controlling the delivery platform motor 26 to start and stop, and a station stopper contactor 1-16 for controlling the station stopper 24 to stretch, wherein the belt transport line motor 27 is connected with the belt transport line frequency converter 1-3, the roller transport line motor 28 is connected with the roller transport line frequency converter 1-4, the double speed chain transport line motor 29 is connected with the double speed chain transport line frequency converter 1-5, the cargo inlet table contactor 1-6 is connected in series in a power supply loop of the cargo inlet table motor 25, the first corner machine motor forward rotation contactor 1-7 and the first corner machine motor reverse rotation contactor 1-8 are connected in parallel and then connected in series in a power supply loop of the first corner machine motor 35, the first corner machine air pump inflation relay 1-9 and the first corner machine air pump deflation relay 1-10 are connected in parallel and then connected in series in a power supply loop of the first corner machine air pump 30, the second corner machine motor forward rotation contactor 1-11 and the second corner machine motor reverse rotation contactor 1-12 are connected in parallel and then connected in series in a power supply loop of the second corner machine motor 36, the second corner machine air pump inflation relay 1-13 and the second corner machine air pump deflation relay 1-14 are connected in parallel and then connected in series in a power supply loop of the second corner machine air pump 31, the delivery platform contactors 1-15 are connected in series in a power supply loop of a delivery platform motor 26, and the station stopper contactors 1-16 are connected in series in a power supply loop of a station stopper 24; the input end of the embedded motion controller 2-1 is connected with a stacker state detection sensor for detecting the working state of the stacker 16, the output end of the embedded motion controller 2-1 is connected with an X-axis servo motor driver 2-3, a Y-axis servo motor driver 2-4 and a Z-axis stepping motor driver 2-5, the X-axis servo motor 32 is connected with the X-axis servo motor driver 2-3, the Y-axis servo motor 33 is connected with the Y-axis servo motor driver 2-4, and the Z-axis stepping motor 34 is connected with the Z-axis stepping motor driver 2-5.

In this embodiment, the monitoring upper computer 3 is an industrial control computer. The PLC module 1-1 is an S7-200 series PLC module, and the first Pr of ibu bus communication module 1-2 is an EM277 communication module. The embedded motion controller 2-1 is a fixed-height GT series motion controller.

In this embodiment, it arrives goods detection sensor 10 and is photoelectric sensor to go into goods platform to goods detection sensor 4, belt goods position detection sensor 5 and delivery platform, cylinder goods position detection sensor 7, double speed chain goods position detection sensor 9, first corner machine arrive goods detection sensor 6 and second corner machine and arrive goods detection sensor 8 and be stroke sensor, the quantity of station stopper 24 is a plurality of and corresponds the setting respectively and is a plurality of double speed chain goods position detection sensor 9's rear.

In this embodiment, the stacker state detection sensor includes a plurality of stacker running position detection sensors 11 that are disposed on the stacker rail 15 and used to detect the running position of the stacker 16 on the stacker rail 15, and a stacker carrying platform position detection sensor 12 that is disposed on the rack of the stacker 16 directly below the carrying platform of the stacker 16 and used to detect the position of the carrying platform of the stacker 16. The stacker running position detection sensors 11 and the stacker carrying platform position detection sensors 12 are all microswitches, the number of the stacker running position detection sensors 11 is four, two of the stacker running position detection sensors are arranged at the head end of the stacker track 15 at intervals, and the other two of the stacker running position detection sensors are arranged at the tail end of the stacker track 15 at intervals; the number of the stacker cargo carrying platform position detection sensors 12 is two.

With reference to fig. 3, the method for controlling optimized access to a cargo path of a three-dimensional logistics system according to the present invention comprises the following steps:

step one, logistics task signal input: the method comprises the steps that a sorting goods position number is input through operation of a monitoring upper computer 3, logistics control signals for warehouse-out, processing, warehousing or moving are input, and the goods position number and the logistics control signals are written into a logistics system database stored in advance by the monitoring upper computer 3;

step two, logistics task execution, which comprises the following specific processes:

step 201, the monitoring upper computer 3 calls an ACA-PGA path optimization module and performs path optimization by adopting an ACA algorithm and a PGA algorithm to obtain an optimized logistics sequence;

step 202, the monitoring upper computer 3 transmits the optimized logistics sequence obtained in the step 201 to the embedded motion controller 2-1 through the second Profibus bus communication module 2-2, outputs a corresponding control signal according to the logistics control signal, and transmits the corresponding control signal to the PLC module 1-1 through the first Profibus bus communication module 1-2, the embedded motion controller 2-1 and the PLC module 1-1 respectively control the stacker 16 and the cargo transportation line to execute corresponding logistics tasks, and the specific process is as follows:

when the logistics control signal is outbound:

2021. the embedded motion controller 2-1 outputs corresponding control signals to an X-axis servo motor driver 2-3, a Y-axis servo motor driver 2-4 and a Z-axis stepping motor driver 2-5 according to the received optimized logistics sequence, the X-axis servo motor driver 2-3 drives an X-axis servo motor 32 to act, the Y-axis servo motor driver 2-4 drives a Y-axis servo motor 33 to act, the Z-axis stepping motor driver 2-5 drives a Z-axis stepping motor 34 to act, the X-axis servo motor 32, the Y-axis servo motor 33 and the Z-axis stepping motor 34 drive the stacker 16 to operate according to the optimized logistics sequence, and goods are taken out from the goods shelf in sequence according to the optimized logistics sequence and placed on a goods carrying table of the stacker 16;

2022. the X-axis servo motor 32, the Y-axis servo motor 33 and the Z-axis stepping motor 34 drive the stacker 16 to run to the position of the delivery platform 21, and the goods are placed on the delivery platform 21;

2023. the goods delivery platform arrival detection sensor 10 detects the arrival information of the goods delivery platform 21 in real time and outputs the detected signals to the PLC module 1-1, when the PLC module 1-1 receives the arrival signals of the goods delivery platform 21 output by the goods delivery platform arrival detection sensor 10, the PLC module 1-1 controls the goods delivery platform contactors 1-15 to be connected with a power supply loop of the goods delivery platform motor 26, the goods delivery platform motor 26 drives the goods delivery platform 21 to operate, the belt transport line motor 27 is controlled to drive the belt transport line 17 to operate through the belt transport line frequency converter 1-3, the goods are transmitted to the belt transport line 17 by the goods delivery platform 21, the plurality of belt goods position detection sensors 5 detect the running positions of the goods on the belt transport line 17 in real time and output the detected signals to the PLC module 1-1, and the PLC module 1-1 receives the signals output by the plurality of belt goods position detection sensors 5 and outputs the signals to the PLC module 1-1 Analyzing and processing, wherein when the PLC module 1-1 judges that goods arrive at the belt transport line 17, the PLC module 1-1 controls the cargo discharging platform contactor 1-15 to disconnect a power supply loop of the cargo discharging platform motor 26, and the cargo discharging platform motor 26 stops driving the cargo discharging platform 21 to operate;

2024. when the PLC module 1-1 judges that the goods on the belt transport line 17 reach the middle position of the belt transport line 17, the PLC module 1-1 controls the belt transport line motor 27 to stop driving the belt transport line 17 to run through the belt transport line frequency converter 1-3;

2025. the goods are manually taken down from the belt transport line 17, and the goods are taken out of the warehouse;

when the stream control signal is in-bin:

2026. manually placing the goods on a speed-multiplying chain transport line 19, controlling a roller transport line motor 28 to drive the speed-multiplying chain transport line 19 to run by a PLC module 1-1 through a speed-multiplying chain transport line frequency converter 1-5, detecting the running positions of the goods on the speed-multiplying chain transport line 19 in real time by a plurality of speed-multiplying chain goods position detection sensors 9 and outputting the detected signals to the PLC module 1-1, and receiving the signals output by the plurality of speed-multiplying chain goods position detection sensors 9 and analyzing and processing the signals by the PLC module 1-1;

2027. when the PLC module 1-1 judges that goods are sent out from the double-speed chain transport line 19, the PLC module 1-1 controls the goods entering table contactor 1-6 to be connected with a power supply loop of the goods entering table motor 25, the goods entering table motor 25 drives the goods entering table 20 to operate, the goods entering table arriving detection sensor 4 detects goods arriving information of the goods entering table 20 in real time and outputs a detected signal to the PLC module 1-1, when the PLC module 1-1 receives a goods arriving signal of the goods entering table 20 output by the goods entering table arriving detection sensor 4, the PLC module 1-1 controls the goods entering table contactor 1-6 to be disconnected with the power supply loop of the goods entering table motor 25, and the goods entering table motor 25 stops driving the goods entering table 20 to operate;

2028. the embedded motion controller 2-1 outputs corresponding control signals to an X-axis servo motor driver 2-3, a Y-axis servo motor driver 2-4 and a Z-axis stepping motor driver 2-5, the X-axis servo motor driver 2-3 drives an X-axis servo motor 32 to act, the Y-axis servo motor driver 2-4 drives a Y-axis servo motor 33 to act, the Z-axis stepping motor driver 2-5 drives a Z-axis stepping motor 34 to act, the X-axis servo motor 32, the Y-axis servo motor 33 and the Z-axis stepping motor 34 drive the stacker 16 to operate to the position of the goods inlet table 20, and goods are placed on a goods carrying table of the stacker 16 from the goods inlet table 20;

2029. the embedded motion controller 2-1 outputs corresponding control signals to the X-axis servo motor driver 2-3, the Y-axis servo motor driver 2-4 and the Z-axis stepping motor driver 2-5 according to the received optimized logistics sequence, the X-axis servo motor 32, the Y-axis servo motor 33 and the Z-axis stepping motor 34 drive the stacker 16 to operate according to the optimized logistics sequence, goods on the goods carrying table are sequentially placed on the goods shelf according to the optimized logistics sequence, and the goods are put into storage;

when the logistics control signal is a bank shift:

20210. the embedded motion controller 2-1 outputs corresponding control signals to an X-axis servo motor driver 2-3, a Y-axis servo motor driver 2-4 and a Z-axis stepping motor driver 2-5 according to the received optimized logistics sequence, the X-axis servo motor driver 2-3 drives an X-axis servo motor 32 to act, the Y-axis servo motor driver 2-4 drives a Y-axis servo motor 33 to act, the Z-axis stepping motor driver 2-5 drives a Z-axis stepping motor 34 to act, the X-axis servo motor 32, the Y-axis servo motor 33 and the Z-axis stepping motor 34 drive the stacker 16 to operate according to the optimized logistics sequence, goods are sequentially taken out from the existing goods positions according to the optimized logistics sequence and are stored in the target goods positions, and the goods are moved to the warehouse;

when the material flow control signal is processed:

20211. the embedded motion controller 2-1 and the PLC module 1-1 control the stacker 16, the delivery platform 21 and the belt transport line 17 to execute delivery tasks according to the delivery control signals in the delivery process 2021-2023;

20212. when the PLC module 1-1 judges that goods on the belt conveying line 17 reach the goods discharging position of the belt conveying line 17, the PLC module 1-1 is connected with a power supply loop of a first corner machine motor 35 by controlling a first corner machine motor forward rotation contactor 1-7, the first corner machine motor 35 rotates forward and drives a belt of the first corner machine 22 to convey the goods to the first corner machine 22 in a forward direction, a first corner machine goods arrival detection sensor 6 detects goods arrival information of the first corner machine 22 in real time and outputs a detected signal to the PLC module 1-1, and after the PLC module 1-1 receives a first corner machine 22 goods arrival signal output by the first corner machine goods arrival detection sensor 6, the PLC module 1-1 controls the first corner machine motor forward rotation contactor 1-7 to disconnect the power supply loop of the first corner machine motor 35, the first angle motor 35 stops the forward rotation;

20213. the PLC module 1-1 controls a first corner machine air pump inflation relay 1-9 to be connected with a power supply loop of a first corner machine air pump 30, the first corner machine air pump 30 inflates air and enables a first corner machine air cylinder to drive a first corner machine 22 to rotate forward by 90 degrees, after the first corner machine 22 rotates to a position, the PLC module 1-1 controls a roller conveying line motor 28 to drive a roller conveying line 18 to operate through a roller conveying line frequency converter 1-4, a plurality of roller goods position detection sensors 7 detect the operation positions of goods on the roller conveying line 18 in real time and output detected signals to the PLC module 1-1, the PLC module 1-1 receives signals output by the plurality of roller goods position detection sensors 7 and analyzes and processes the signals, and when the PLC module 1-1 judges that goods are conveyed to the roller conveying line 18, the PLC module 1-1 controls a first corner machine air pump inflation relay 1-9 to disconnect a power supply loop of a first corner machine air pump 30, controls a first corner machine air pump deflation relay 1-10 to connect the power supply loop of the first corner machine air pump 30, and enables the first corner machine air pump 30 to deflate and a first corner machine air cylinder to drive the first corner machine 22 to rotate for 90 degrees to return;

20214. when the PLC module 1-1 judges that the goods are delivered from the drum transport line 18, the PLC module 1-1 is connected with a power supply loop of a second corner machine motor 36 by controlling a second corner machine motor forward rotation contactor 1-11, the second corner machine motor 36 rotates forward and drives a belt of the second corner machine 23 to forward convey goods to the second corner machine 23, a second corner machine arrival goods detection sensor 8 detects arrival goods information of the second corner machine 23 in real time and outputs the detected signal to the PLC module 1-1, when the PLC module 1-1 receives the second corner machine 23 arrival signal output by the second corner machine arrival detection sensor 8, the PLC module 1-1 controls the forward rotation contactor 1-11 of the second corner machine motor to disconnect a power supply loop of the second corner machine motor 36, and the second corner machine motor 36 stops forward rotation;

20215. the PLC module 1-1 controls a second corner machine air pump inflation relay 1-13 to be connected with a power supply loop of a second corner machine air pump 31, the second corner machine air pump 31 is inflated to enable a second corner machine air cylinder to drive a second corner machine 23 to rotate forward by 90 degrees, after the second corner machine 23 rotates in place, the PLC module 1-1 controls a speed-multiplying chain conveying line motor 29 to drive a speed-multiplying chain conveying line 19 to operate through a speed-multiplying chain conveying line frequency converter 1-5, a plurality of speed-multiplying chain cargo position detection sensors 9 detect the operation positions of cargos on the speed-multiplying chain conveying line 19 in real time and output the detected signals to the PLC module 1-1, the PLC module 1-1 receives the signals output by the speed-multiplying chain cargo position detection sensors 9 and analyzes the signals, and when the PLC module 1-1 judges that the cargos are conveyed to the speed-multiplying chain conveying line 19, the PLC module 1-1 controls the second corner machine air pump inflation relay 1-13 to disconnect a power supply loop of the second corner machine air pump 31, controls the second corner machine air pump inflation relay 1-13 to connect the power supply loop of the second corner machine air pump 31, and enables the second corner machine air pump 31 to deflate and enables the second corner machine air cylinder to drive the second corner machine 23 to rotate 90 degrees to return;

20216. the PLC module 1-1 judges the position of the goods on the speed-multiplying chain transport line 19 according to the signals output by the speed-multiplying chain goods position detection sensors 9, delays for a period of time, and after the processing time is reached, the PLC module 1-1 controls the station stopper contactors 1-16 at the corresponding positions to be connected with a power supply loop of the station stopper 24, the station stopper 24 retracts from the speed-multiplying chain transport line 19, the blockage is removed, and the goods are continuously transmitted on the speed-multiplying chain transport line 19;

20217. when the PLC module 1-1 judges that goods are sent out from the speed-doubling chain transportation line 19, the PLC module 1-1 and the embedded motion controller 2-1 control the speed-doubling chain transportation line 19, the goods-entering table 20 and the stacker 16 to execute warehousing logistics tasks according to the logistics control signals in the warehousing process 2027-2029, and goods processing is completed after warehousing is completed.

In this embodiment, in step 201, the monitoring upper computer 3 calls an ACA-PGA path optimization module and before the ACA algorithm and the PGA algorithm are used for path optimization, the monitoring upper computer 3 first calls a fault detection module to detect faults of an empty cargo space, a full cargo space, a cargo platform state error, a data communication error, and a command transmission error, which occur in the system, and when a fault is detected, the monitoring upper computer 3 sends a fault alarm signal, records fault information, and displays the fault information. Specifically, two stacker cargo carrying platform position detection sensors 12 are installed one above the other, and after the stacker cargo carrying platform position detection sensor 12 above detects a signal that a stacker cargo carrying platform arrives, once the stacker cargo carrying platform position detection sensor 12 below also detects a signal that a stacker cargo carrying platform arrives, it indicates that the stacker cargo carrying platform moves downward beyond a limit position, and it indicates that a cargo carrying platform state error occurs. When the system is implemented specifically, after a worker finds a fault alarm signal, the worker can input control signals such as system emergency stop, system reset, stacker zeroing and the like through operating the monitoring upper computer 3, so that the damage to the three-dimensional logistics system is avoided. The function of the stacker zeroing is to correct the positions of the cargo carrying platform and the cargo fork of the stacker 16 to make the three-axis coordinates of the X axis, the Y axis and the Z axis return to zero, so that the X-axis servo motor 32, the Y-axis servo motor 33 and the Z-axis stepping motor 34 can accurately reach the positions of the cargos when the stacker 16 takes and puts the cargos, and the collision with the goods shelf and the cargo carrying platform is avoided. Therefore, the failure detection is arranged, the damage to the three-dimensional logistics system caused by misoperation can be effectively avoided, and the service life of the three-dimensional logistics system is prolonged.

With reference to fig. 4, in this embodiment, the specific process of invoking the ACA-PGA path optimization module by the monitoring upper computer 3 in step 201 and performing path optimization by using the ACA algorithm and the PGA algorithm is as follows:

step 2011, parameter initialization: let time t =0, number of cycles N_c0, initial pheromone tau on the path from cargo site i to cargo site j_ij＝τ₀The number of ants is m, and the taboo list of each ant is empty; setting the maximum iteration times maxgen, the search path cycle times round and the gene transposition probability p_hShift probability p_yAnd the probability of inversion p_d；

Step 2012, initializing an ant colony: setting an additional cargo site with the number of 0, wherein the coordinate of the additional cargo site is 0,0, placing m ants at the additional cargo site, and adding the number of 0 of the additional cargo site into a respective taboo table of each ant;

step 2013, circularly searching paths: firstly, according to the formula

$j=\left\{\begin{array}{cc}\arg \underset{u\∈U}{\max }\left[{\left({\mathrm{\τ}}_{\mathrm{iu}}\right)}^{\mathrm{\α}}{\left({\mathrm{\η}}_{\mathrm{iu}}\right)}^{\mathrm{\β}}\right],& q\≤q_0\\ J,& q>q_0\end{array}\right.$

Selecting the next coordinate as (X)_j,Y_j) Recording the number j of the goods position to be selected, and adding the number j into a respective taboo table of each ant; wherein, tau_iuIntensity of pheromone track on path from cargo space i to cargo space u, tau_iuGet η for visibility of the path from cargo space i to cargo space u and express the heuristic information of transferring cargo space i to cargo space u_iu=1/d_iu，d_iuIs the distance between the cargo space i and the cargo space u, α is the relative importance of the pheromone track, β is the relative importance of the heuristic information, and q is at [0,1]Random numbers, q, evenly distributed within the interval₀Q is more than or equal to 0 and is used for searching the setting parameters of the path for the ants₀Less than or equal to 1, U is the set of all the picking positions; j is a formula for selecting probability according to path

Selected cargo space, wherein_ijIntensity of pheromone track on the path from cargo space i to cargo space j_ijFrom cargo space i to cargo space jVisibility of the path and heuristic information representing the transfer of the cargo space i to the cargo space j, take eta_ij=1/d_ij，d_ijThe distance between the cargo space i and the cargo space j;

then, according to the formula

τ_ij(t+1)=ρ·τ_ij(t)+(1-ρ)Δτ_ij(t)

Carrying out local updating on the pheromone quantity on the path; wherein rho is a persistence coefficient of the local update pheromone track, rho is more than or equal to 0 and less than or equal to 1, and delta tau_ij(t) is the amount of change in pheromone and

${\mathrm{\Δ\τ}}_{\mathrm{ij}}\left(t\right)=\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{\mathrm{\Δ\τ}}_{\mathrm{ij}}^k\left(t\right)$

wherein,

pheromone increment left on a path between cargo i and cargo j for ant k passing through the path

Wherein k is an integer and has a value range of 1-m, Q is the total amount of pheromones, and L_kThe total length of the path taken by the ant k in the cycle;

step 2014, judging whether the ants traverse all the picking sites, forming m picking orders in m taboo tables when the ants traverse all the picking sites, then executing step 2015, and returning to step 2013 if not;

step 2015, taking m tabu lists of m ants after the ants pass through a circular search path as m chromosomes, and taking the m chromosomes as an initial population;

step 2016, first, sorting the goods according to the m goods positions recorded in the m tabu tables and according to a formula

Calculating fitness values F for all individuals, wherein T_nIn order to pay the time cost according to the nth goods position sorting sequence in the taboo table, n is an integer and the value range is 1-m; then, arranging the m chromosomes from large to small according to the fitness value; then, storing the first 30% of the m chromosomes which are arranged from large to small;

step 2017, firstly, the gene transposition probability p set in step 2011 is applied to the last 70% of m chromosomes arranged from large to small_hShift probability p_yAnd the probability of inversion p_dPerforming gene recombination operations of transposition, shifting and inversion to generate m new chromosomes; then, adding m new chromosomes into the initial population to form a new population, wherein a new goods position picking sequence is recorded in the new population;

step 2018, judging whether the genetic evolution reaches the maximum iteration number maxgen set in the step 2011, if so, executing the step 2019, otherwise, returning to the step 2016;

step 2019, first, according to the new goods position sorting order recorded in the new population and according to the formula

Calculating fitness values F for all individuals, wherein T_qTo be paid according to the order of picking of the q-th order in the new populationTime cost, wherein the value of q is an integer less than the number of all individuals in the new population; then, taking the individual with the maximum fitness value as a new global optimal solution;

20110, first, according to the formula

τ_ij(t+1)=γ·τ_ij(t)+(1-γ)Δτ_ij(t)

Performing global pheromone updating, judging whether the loop times round of the search path set in the step 2011 are reached, if so, outputting the optimal solution in the step 2019 and emptying a tabu table, and if not, returning to the step 2013; wherein gamma is a persistence coefficient of the global update pheromone track, gamma is more than or equal to 0 and less than or equal to 1, and delta tau_ij(t) is the amount of change in pheromone and

${\mathrm{\Δ\τ}}_{\mathrm{ij}}\left(t\right)=\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{\mathrm{\Δ\τ}}_{\mathrm{ij}}^k\left(t\right)$

wherein,

pheromone increment left on a path between cargo i and cargo j for ant k passing through the path

Wherein k is an integer and ranges from 1 to m, and Q isTotal amount of pheromones, L_kThe total length of the path taken by the ant k in the current cycle.

In order to verify that the monitoring upper computer 3 calls the ACA-PGA path optimization module and the optimized logistics sequence can be really obtained by adopting the ACA algorithm and the PGA algorithm to carry out path optimization, MATLAB software is adopted to carry out simulation on the optimized logistics sequence, in the simulation, the number of sorting goods positions is set to be 19, the number of ants is m =20, the maximum iteration number is maxgen =200, the cycle number of searching paths is round =200, and the gene transposition probability p_h=0.9, shift probability p_y=0.2, probability of inversion p_d=0.9, relative importance of pheromone track α =0.5, relative importance of heuristic information β =0.5, setting parameter q of ant search path₀=0.7, the persistence coefficient ρ =0.7 for the local update pheromone track, and the persistence coefficient γ =0.7 for the global update pheromone track; the optimized logistics sequence path obtained by simulation is shown in fig. 5, and the random stacker picking operation path simulation is shown in fig. 6. In fig. 5 and 6, the abscissa columns each represent the row number of the cargo space, and the ordinate lines each represent the column number of the cargo space.

The time cost spent by the stacker 16 in picking operation according to the optimized logistics sequence path in fig. 5 is 52s, while the time cost spent by the stacker 16 in picking operation according to the random picking operation path in fig. 6 is 177.67s, and simulation experiment results show that after the ACA-PGA path optimization module is called and the ACA algorithm and the PGA algorithm are adopted for path optimization, the time spent by the stacker 16 in picking operation is greatly shortened, and the optimization rate reaches 70.73%.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A three-dimensional logistics system goods storing and taking path optimization control system comprises goods shelves, a stacker (16) and a goods conveying line, wherein the goods shelves are composed of a front row of goods shelves (13) and a rear row of goods shelves (14) which are arranged at intervals, stacker tracks (15) for the stacker (16) to run are arranged between the front row of goods shelves (13) and the rear row of goods shelves (14), the goods conveying line is composed of a belt conveying line (17), a roller conveying line (18) and a double-speed chain conveying line (19), the belt conveying line (17), the roller conveying line (18), the double-speed chain conveying line (19) and the front row of goods shelves (13) are sequentially and adjacently surrounded into a rectangular shape, a goods entering platform (20) is arranged between the double-speed chain conveying line (19) and the front row of goods shelves (13), and a goods discharging platform (21) is arranged between the front row of goods shelves (13) and the belt conveying line (17), a first corner machine (22) is arranged between the belt conveying line (17) and the roller conveying line (18), a second corner machine (23) is arranged between the roller conveying line (18) and the speed-doubling chain conveying line (19), a station stopper (24) is arranged on the speed-doubling chain conveying line (19), the goods entering table (20) is driven to operate by a goods entering table motor (25), the goods exiting table (21) is driven to operate by a goods exiting table motor (26), the belt conveying line (17) is driven to operate by a belt conveying line motor (27), the roller conveying line (18) is driven to operate by a roller conveying line motor (28), the speed-doubling chain conveying line (19) is driven to operate by a speed-doubling chain conveying line motor (29), a belt of the first corner machine (22) is driven by a first corner machine motor (35) to convey goods to and out of the first corner machine (22) forwards or reversely, the first corner machine (22) is driven to rotate forwards or backwards by a first corner machine air pump (30) and a first corner machine air cylinder connected with the first corner machine air pump (30), a belt of the second corner machine (23) is driven by a second corner machine motor (36) to convey and convey goods on the second corner machine (23) forwards or reversely, the second corner machine (23) is driven by a second corner machine air pump (31) and a second corner machine air cylinder connected with the second corner machine air pump (31) to rotate forwards or backwards, and the stacker (16) is driven to operate by an X-axis servo motor (32), a Y-axis servo motor (33) and a Z-axis stepping motor (34); the method is characterized in that: the goods storing and taking path optimizing control system comprises a goods transportation line control cabinet, a stacker motion control cabinet and a monitoring upper computer (3), wherein a PLC (programmable logic controller) module (1-1) used for controlling a goods transportation line and a first Profibus bus communication module (1-2) connected with the PLC module (1-1) are arranged in the goods transportation line control cabinet, an embedded motion controller (2-1) used for controlling a stacker (16) is arranged in the stacker motion control cabinet, a second Profibus bus communication module (2-2) is integrated in the embedded motion controller (2-1), the PLC module (1-1) is connected with and communicates with the monitoring upper computer (3) through the first Profibus bus communication module (1-2), and the embedded motion controller (2-1) is connected with the monitoring upper computer (3) through the second Profibus bus communication module (2-2) And communicate, the input end of the PLC module (1-1) is connected with a goods-entering platform goods-arriving detection sensor (4) arranged on a goods-entering platform (20), a plurality of belt goods position detection sensors (5) arranged on a belt transport line (17) and used for detecting the running position of goods on the belt transport line (17), a first corner machine goods-arriving detection sensor (6) arranged on a first corner machine (22), a plurality of roller goods position detection sensors (7) arranged on the roller transport line (18) and used for detecting the running position of goods on the roller transport line (18), a second corner machine goods-arriving detection sensor (8) arranged on a second corner machine (23), a plurality of speed chain goods position detection sensors (9) arranged on the speed chain transport line (19) and used for detecting the running position of goods on the speed chain transport line (19), and a goods-exiting platform goods-arriving detection sensor (4) arranged on a goods-exiting platform (21) The automatic frequency control device comprises a detection sensor (10), wherein the output end of a PLC module (1-1) is connected with a belt conveying line frequency converter (1-3) for carrying out frequency conversion speed regulation on a belt conveying line motor (27), a roller conveying line frequency converter (1-4) for carrying out frequency conversion speed regulation on a roller conveying line motor (28), a speed-multiplying chain conveying line frequency converter (1-5) for carrying out frequency conversion speed regulation on a speed-multiplying chain conveying line motor (29), a goods entering table contactor (1-6) for controlling the start and stop of a goods entering table motor (25), a first corner machine motor forward rotation contactor (1-7) for controlling the forward rotation of a first corner machine motor (35), a first corner machine motor reverse rotation contactor (1-8) for controlling the reverse rotation of the first corner machine motor (35), a first corner machine air pump inflation relay (1-9) for controlling the inflation of a first corner machine air pump (30), A first corner machine air pump deflation relay (1-10) for controlling deflation of a first corner machine air pump (30), a second corner machine motor forward rotation contactor (1-11) for controlling forward rotation of a second corner machine motor (36), a second corner machine motor reverse rotation contactor (1-12) for controlling reverse rotation of the second corner machine motor (36), a second corner machine air pump inflation relay (1-13) for controlling inflation of a second corner machine air pump (31), a second corner machine air pump deflation relay (1-14) for controlling deflation of the second corner machine air pump (31), a delivery platform contactor (1-15) for controlling start and stop of a delivery platform motor (26) and a station stopper contactor (1-16) for controlling extension and retraction of a station stopper (24), wherein the belt transport line motor (27) is connected with the belt transport line frequency converter (1-3), the double-speed chain conveyor line comprises a roller conveyor line motor (28), a double-speed chain conveyor line frequency converter (1-4), a double-speed chain conveyor line motor (29), a double-speed chain conveyor line frequency converter (1-5), a cargo entering platform contactor (1-6) and a cargo entering platform motor (25), wherein the double-speed chain conveyor line motor (29) is connected with the double-speed chain conveyor line frequency converter (1-5), the cargo entering platform contactor (1-6) is connected in series in a power supply loop of the cargo entering platform motor (25), a first corner machine motor forward rotation contactor (1-7) and a first corner machine motor reverse rotation contactor (1-8) are connected in parallel and then connected in series in a power supply loop of a first corner machine motor (35), a first corner machine air pump inflation relay (1-9) and a first corner machine air pump deflation relay (1-10) are connected in parallel and then connected in series in a power supply loop of a first corner machine air pump (30), a second corner machine forward rotation contactor (1-11) and a second corner (36) In the power supply loop, a second corner machine air pump inflation relay (1-13) and a second corner machine air pump deflation relay (1-14) are connected in parallel and then connected in series in the power supply loop of a second corner machine air pump (31), a delivery platform contactor (1-15) is connected in series in the power supply loop of a delivery platform motor (26), and a station stopper contactor (1-16) is connected in series in the power supply loop of a station stopper (24); the automatic stacking machine state detection system is characterized in that the input end of the embedded motion controller (2-1) is connected with a stacking machine state detection sensor used for detecting the working state of a stacking machine (16), the output end of the embedded motion controller (2-1) is connected with an X-axis servo motor driver (2-3), a Y-axis servo motor driver (2-4) and a Z-axis stepping motor driver (2-5), the X-axis servo motor (32) is connected with the X-axis servo motor driver (2-3), the Y-axis servo motor (33) is connected with the Y-axis servo motor driver (2-4), and the Z-axis stepping motor (34) is connected with the Z-axis stepping motor driver (2-5).

2. The stereoscopic logistics system access cargo path optimization control system of claim 1, wherein: the monitoring upper computer (3) is an industrial control computer.

3. The stereoscopic logistics system access cargo path optimization control system of claim 1, wherein: the PLC module (1-1) is an S7-200 series PLC module, and the first Profibus bus communication module (1-2) is an EM277 communication module.

4. The stereoscopic logistics system access cargo path optimization control system of claim 1, wherein: the embedded motion controller (2-1) is a fixed-height GT series motion controller.

5. The stereoscopic logistics system access cargo path optimization control system of claim 1, wherein: it is photoelectric sensor to go into goods platform to goods detection sensor (4), belt goods position detection sensor (5) and delivery platform to goods detection sensor (10), cylinder goods position detection sensor (7), doubly fast chain goods position detection sensor (9), first corner machine to goods detection sensor (6) and second corner machine to goods detection sensor (8), the quantity of station stopper (24) is a plurality of and corresponds the setting respectively and is a plurality of the rear of doubly fast chain goods position detection sensor (9).

6. The stereoscopic logistics system access cargo path optimization control system of claim 1, wherein: the stacker state detection sensor comprises a plurality of stacker running position detection sensors (11) which are arranged on a stacker track (15) and used for detecting the running position of a stacker (16) on the stacker track (15) and a stacker carrying platform position detection sensor (12) which is arranged on a frame of the stacker (16) under a carrying platform of the stacker (16) and used for detecting the position of the carrying platform of the stacker (16).

7. The stereoscopic logistics system access cargo path optimization control system of claim 1, wherein: the stacker running position detection sensors (11) and the stacker carrying platform position detection sensors (12) are all microswitches, the number of the stacker running position detection sensors (11) is four, two of the stacker running position detection sensors are arranged at the head end of the stacker track (15) at intervals, and the other two of the stacker running position detection sensors are arranged at the tail end of the stacker track (15) at intervals; the number of the stacker cargo carrying platform position detection sensors (12) is two.

8. A method for controlling optimized access to a cargo path by using the stereoscopic logistics system of the control system of claim 1, the method comprising the steps of:

step one, logistics task signal input: the method comprises the following steps that a sorting goods position number is input through operation of a monitoring upper computer (3), logistics control signals for warehouse-out, processing, warehousing or warehouse moving are input, and the goods position number and the logistics control signals are written into a logistics system database stored in advance by the monitoring upper computer (3);

step two, logistics task execution, which comprises the following specific processes:

step 201, the monitoring upper computer (3) calls an ACA-PGA path optimization module and performs path optimization by adopting an ACA algorithm and a PGA algorithm to obtain an optimized logistics sequence;

step 202, the monitoring upper computer (3) transmits the optimized logistics sequence obtained in the step 201 to the embedded motion controller (2-1) through the second Profibus bus communication module (2-2), outputs corresponding control signals according to logistics control signals, and transmits the corresponding control signals to the PLC module (1-1) through the first Profibus bus communication module (1-2), the embedded motion controller (2-1) and the PLC module (1-1) respectively control the stacker (16) and the cargo transportation line to execute corresponding logistics tasks, and the specific process is as follows:

when the logistics control signal is outbound:

2021. the embedded motion controller (2-1) outputs corresponding control signals to the X-axis servo motor driver (2-3), the Y-axis servo motor driver (2-4) and the Z-axis stepping motor driver (2-5) according to the received optimized logistics sequence, an X-axis servo motor driver (2-3) drives an X-axis servo motor (32) to act, a Y-axis servo motor driver (2-4) drives a Y-axis servo motor (33) to act, a Z-axis stepping motor driver (2-5) drives a Z-axis stepping motor (34) to act, the X-axis servo motor (32), the Y-axis servo motor (33) and the Z-axis stepping motor (34) drive a stacker (16) to operate according to an optimized logistics sequence, and goods are taken out from a goods shelf in sequence according to the optimized logistics sequence and placed on a goods carrying table of the stacker (16);

2022. the X-axis servo motor (32), the Y-axis servo motor (33) and the Z-axis stepping motor (34) drive the stacker (16) to move to the position of the delivery table (21), and the goods are placed on the delivery table (21);

2023. go out goods platform and arrive goods detection sensor (10) real-time detection goods platform (21) and arrive goods information and give PLC module (1-1) with the signal output who detects, work as PLC module (1-1) receives go out goods platform (21) that goods detection sensor (10) output arrived goods signal after, PLC module (1-1) control shipment platform contactor (1-15) switch-on shipment platform motor's (26) power supply return circuit, shipment platform motor (26) drive shipment platform (21) operation to through belt transport line converter (1-3) control belt transport line motor (27) drive belt transport line (17) operation, shipment platform (21) give belt transport line (17) goods, it is a plurality of belt goods position detection sensor (5) carry out real-time detection and give PLC module (1-1) with the signal output that detects for PLC module (1-1 ) The PLC module (1-1) receives signals output by the belt cargo position detection sensors (5) and performs analysis processing, when the PLC module (1-1) judges that a belt transport line (17) has cargos arriving, the PLC module (1-1) controls a cargo discharging platform contactor (1-15) to disconnect a power supply loop of a cargo discharging platform motor (26), and the cargo discharging platform motor (26) stops driving the cargo discharging platform (21) to operate;

2024. when the PLC module (1-1) judges that the goods on the belt conveying line (17) reach the middle position of the belt conveying line (17), the PLC module (1-1) controls a belt conveying line motor (27) to stop driving the belt conveying line (17) to run through a belt conveying line frequency converter (1-3);

2025. the goods are manually taken down from the belt transport line (17), and the goods are delivered out of the warehouse;

when the stream control signal is in-bin:

2026. manually placing the goods on a speed-multiplying chain conveying line (19), controlling a roller conveying line motor (28) to drive the speed-multiplying chain conveying line (19) to run by a PLC module (1-1) through a speed-multiplying chain conveying line frequency converter (1-5), detecting the running position of the goods on the speed-multiplying chain conveying line (19) in real time by a plurality of speed-multiplying chain goods position detection sensors (9) and outputting the detected signal to the PLC module (1-1), and receiving the signals output by the speed-multiplying chain goods position detection sensors (9) and analyzing and processing by the PLC module (1-1);

2027. when the PLC module (1-1) judges that goods are sent out from the speed chain conveying line (19), the PLC module (1-1) controls the goods entering platform contactor (1-6) to be connected with a power supply loop of the goods entering platform motor (25), the goods entering platform motor (25) drives the goods entering platform (20) to operate, the goods arrival information of the goods entering platform (20) is detected by the goods arrival detection sensor (4) of the goods entering platform in real time and the detected signal is output to the PLC module (1-1), when the PLC module (1-1) receives a goods arrival signal of the goods entering platform (20) output by the goods entering platform arrival detection sensor (4), the PLC module (1-1) controls the goods entering table contactor (1-6) to disconnect a power supply loop of the goods entering table motor (25), and the goods entering table motor (25) stops driving the goods entering table (20) to operate;

2028. the embedded motion controller (2-1) outputs corresponding control signals to the X-axis servo motor driver (2-3), the Y-axis servo motor driver (2-4) and the Z-axis stepping motor driver (2-5), the X-axis servo motor driver (2-3) drives the X-axis servo motor (32) to act, the Y-axis servo motor driver (2-4) drives the Y-axis servo motor (33) to act, the Z-axis stepping motor driver (2-5) drives the Z-axis stepping motor (34) to act, the X-axis servo motor (32), the Y-axis servo motor (33) and the Z-axis stepping motor (34) drive the stacker (16) to operate to the position of the goods-entering table (20), and goods are placed on a goods-carrying table of the stacker (16) from the goods-entering table (20);

2029. the embedded motion controller (2-1) outputs corresponding control signals to an X-axis servo motor driver (2-3), a Y-axis servo motor driver (2-4) and a Z-axis stepping motor driver (2-5) according to the received optimized logistics sequence, the X-axis servo motor (32), the Y-axis servo motor (33) and the Z-axis stepping motor (34) drive the stacker (16) to operate according to the optimized logistics sequence, goods on the goods carrying table are sequentially placed on the goods shelf according to the optimized logistics sequence, and the goods are put into storage;

when the logistics control signal is a bank shift:

20210. the embedded type motion controller (2-1) outputs corresponding control signals to an X-axis servo motor driver (2-3), a Y-axis servo motor driver (2-4) and a Z-axis stepping motor driver (2-5) according to the received optimized logistics sequence, the X-axis servo motor driver (2-3) drives an X-axis servo motor (32) to act, the Y-axis servo motor driver (2-4) drives a Y-axis servo motor (33) to act, the Z-axis stepping motor driver (2-5) drives a Z-axis stepping motor (34) to act, the X-axis servo motor (32), the Y-axis servo motor (33) and the Z-axis stepping motor (34) drive a stacker (16) to operate according to the optimized logistics sequence, goods are sequentially taken out from the existing goods positions according to the optimized logistics sequence and are stored in the target goods positions, completing the goods transfer;

when the material flow control signal is processed:

20211. the embedded motion controller (2-1) and the PLC module (1-1) control the stacker (16), the delivery platform (21) and the belt conveying line (17) to execute the logistics task of delivery according to the logistics control signal which is the process 2021-2023 during delivery;

20212. when the PLC module (1-1) judges that goods on the belt conveying line (17) reach the goods discharging position of the belt conveying line (17), the PLC module (1-1) is connected with a power supply loop of a first corner machine motor (35) by controlling a first corner machine motor forward rotation contactor (1-7), the first corner machine motor (35) rotates forwards and drives a belt of the first corner machine (22) to forward and convey the goods to the first corner machine (22), the first corner machine arrival goods detection sensor (6) detects the arrival information of the first corner machine (22) in real time and outputs the detected signal to the PLC module (1-1), and when the PLC module (1-1) receives the arrival signal of the first corner machine (22) output by the first corner machine arrival goods detection sensor (6), the PLC module (1-1) controls the first corner machine motor forward rotation contactor (1-7) to disconnect the first corner machine electric power A power supply circuit of the machine (35), wherein the first corner machine motor (35) stops rotating forwards;

20213. the PLC module (1-1) controls a first corner machine air pump inflation relay (1-9) to be connected with a power supply loop of a first corner machine air pump (30), the first corner machine air pump (30) is inflated and enables a first corner machine air cylinder to drive a first corner machine (22) to rotate forward by 90 degrees, after the first corner machine (22) rotates in place, the PLC module (1-1) controls a roller conveying line motor (28) to drive a roller conveying line (18) to operate through a roller conveying line frequency converter (1-4), a plurality of roller goods position detection sensors (7) detect the operating positions of goods on the roller conveying line (18) in real time and output the detected signals to the PLC module (1-1), and the PLC module (1-1) receives and analyzes the signals output by the plurality of roller goods position detection sensors (7), when the PLC module (1-1) judges that goods are conveyed to the roller conveying line (18), the PLC module (1-1) controls a first corner machine air pump inflation relay (1-9) to cut off a power supply loop of a first corner machine air pump (30), controls a first corner machine air pump deflation relay (1-10) to switch on the power supply loop of the first corner machine air pump (30), and enables a first corner machine air cylinder to drive a first corner machine (22) to rotate 90 degrees to return;

20214. when the PLC module (1-1) judges that goods are sent out from the roller conveying line (18), the PLC module (1-1) is connected with a power supply loop of a second corner machine motor (36) by controlling a second corner machine motor forward rotation contactor (1-11), the second corner machine motor (36) rotates forwards and drives a belt of the second corner machine (23) to forward to convey the goods to the second corner machine (23), a second corner machine goods arrival detection sensor (8) detects goods arrival information of the second corner machine (23) in real time and outputs the detected signal to the PLC module (1-1), and when the PLC module (1-1) receives a goods arrival signal of the second corner machine (23) output by the second corner machine goods arrival detection sensor (8), the PLC module (1-1) controls the second corner machine motor forward rotation contactor (1-11) to disconnect the power supply loop of the second corner machine motor (36), the second corner machine motor (36) stops rotating forwards;

20215. the PLC module (1-1) controls a second corner machine air pump inflation relay (1-13) to be connected with a power supply loop of a second corner machine air pump (31), the second corner machine air pump (31) is inflated and enables a second corner machine air cylinder to drive a second corner machine (23) to rotate forward for 90 degrees, after the second corner machine (23) rotates in place, the PLC module (1-1) controls a speed-multiplying chain conveying line motor (29) to drive a speed-multiplying chain conveying line (19) to operate through a speed-multiplying chain conveying line frequency converter (1-5), a plurality of speed-multiplying chain cargo position detection sensors (9) detect the operating positions of cargos on the speed-multiplying chain conveying line (19) in real time and output detected signals to the PLC module (1-1), and the PLC module (1-1) receives and analyzes signals output by the speed-multiplying chain cargo position detection sensors (9), when the PLC module (1-1) judges that goods are conveyed to the speed-doubling chain conveying line (19), the PLC module (1-1) controls a second corner machine air pump inflation relay (1-13) to cut off a power supply loop of a second corner machine air pump (31), controls the second corner machine air pump inflation relay (1-13) to switch on the power supply loop of the second corner machine air pump (31), and discharges air from the second corner machine air pump (31) to enable a second corner machine air cylinder to drive a second corner machine (23) to rotate 90 degrees to return;

20216. the PLC module (1-1) judges the position of the goods on a speed-multiplying chain transport line (19) according to signals output by a plurality of speed-multiplying chain goods position detection sensors (9), delays for a period of time, and after the processing time is up, the PLC module (1-1) controls a station stopper contactor (1-16) at the corresponding position to be connected with a power supply loop of a station stopper (24), the station stopper (24) retracts from the speed-multiplying chain transport line (19) to remove the blockage, and the goods are continuously transmitted on the speed-multiplying chain transport line (19);

20217. when the PLC module (1-1) judges that goods are sent out from the speed-doubling chain conveying line (19), the PLC module (1-1) and the embedded motion controller (2-1) control the speed-doubling chain conveying line (19), the goods loading platform (20) and the stacker (16) to execute warehousing logistics tasks according to the logistics control signals in the warehousing process 2027-2029, and goods processing is finished after warehousing is finished.

9. The method of claim 8, wherein: in the step 201, the monitoring upper computer (3) calls an ACA-PGA path optimization module and before path optimization is carried out by adopting an ACA algorithm and a PGA algorithm, the monitoring upper computer (3) firstly calls a fault detection module to detect faults of empty goods position delivery, full goods position storage, goods carrying table state error, data communication error and instruction transmission error of the system, and when the faults are detected, the monitoring upper computer (3) sends a fault alarm signal, records fault information and displays the fault information.

10. The method of claim 8, wherein: the specific process that the monitoring upper computer (3) calls the ACA-PGA path optimization module and adopts the ACA algorithm and the PGA algorithm to carry out path optimization in the step 201 is as follows:

step 2011, parameter initialization: let time t =0, number of cycles N_c0, initial pheromone tau on the path from cargo site i to cargo site j_ij＝τ₀The number of ants is m, and the taboo list of each ant is empty; setting the maximum iteration times maxgen, the search path cycle times round and the gene transposition probability p_hShift probability p_yAnd the probability of inversion p_d；

Step 2012, initializing an ant colony: setting an additional cargo site with the number of 0, wherein the coordinate of the additional cargo site is (0, 0), placing m ants at the additional cargo site, and adding the number of 0 of the additional cargo site into a respective taboo table of each ant;

step 2013, circularly searching paths: firstly, according to the formula

$j=\left\{\begin{array}{cc}\arg \underset{u\∈U}{\max }\left[{\left({\mathrm{\τ}}_{\mathrm{iu}}\right)}^{\mathrm{\α}}{\left({\mathrm{\η}}_{\mathrm{iu}}\right)}^{\mathrm{\β}}\right],& q\≤q_0\\ J,& q>q_0\end{array}\right.$

Selecting the next coordinate as (X)_j,Y_j) Recording the number j of the goods position to be selected, and adding the number j into a respective taboo table of each ant; wherein, tau_iuIntensity of pheromone track on path from cargo space i to cargo space u, eta_iuGet η for visibility of the path from cargo space i to cargo space u and express the heuristic information of transferring cargo space i to cargo space u_iu＝1/d_iu，d_iuIs the distance between the cargo space i and the cargo space u, α is the relative importance of the pheromone track, β is the relative importance of the heuristic information, and q is at [0,1]Random numbers, q, evenly distributed within the interval₀Q is more than or equal to 0 and is used for searching the setting parameters of the path for the ants₀Less than or equal to 1, U is the set of all the picking positions; j is a formula for selecting probability according to pathSelected cargo space, wherein_ijIntensity of pheromone track on the path from cargo space i to cargo space j_ijGet η for visibility of the path from cargo space i to cargo space j and the heuristic information indicating the transfer of cargo space i to cargo space j_ij=1/d_ij，d_ijThe distance between the cargo space i and the cargo space j;

then, according to the formula

τ_ij(t+1)=ρ·τ_ij(t)+(1-ρ)Δτ_ij(t)

Carrying out local updating on the pheromone quantity on the path; wherein rho is a persistence coefficient of the local update pheromone track, rho is more than or equal to 0 and less than or equal to 1, and delta tau_ij(t) is the amount of change in pheromone and

${\mathrm{\Δ\τ}}_{\mathrm{ij}}\left(t\right)=\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{\mathrm{\Δ\τ}}_{\mathrm{ij}}^k\left(t\right)$

wherein,

pheromone increment left on a path between cargo i and cargo j for ant k passing through the path

Wherein k is an integer and has a value range of 1-m, Q is the total amount of pheromones, and L_kThe total length of the path taken by the ant k in the cycle;

step 2014, judging whether the ants traverse all the picking sites, forming m picking orders in m taboo tables when the ants traverse all the picking sites, then executing step 2015, and returning to step 2013 if not;

step 2015, taking m tabu lists of m ants after the ants pass through a circular search path as m chromosomes, and taking the m chromosomes as an initial population;

step 2016, first, sorting the goods according to the m goods positions recorded in the m tabu tables and according to a formula

Calculating fitness values F for all individuals, wherein T_nThe time cost required for picking the order according to the nth goods position in the tabu table is taken, wherein n is an integerThe value range is 1-m; then, arranging the m chromosomes from large to small according to the fitness value; then, storing the first 30% of the m chromosomes which are arranged from large to small;

step 2017, firstly, the gene transposition probability p set in step 2011 is applied to the last 70% of m chromosomes arranged from large to small_hShift probability p_yAnd the probability of inversion p_dPerforming gene recombination operations of transposition, shifting and inversion to generate m new chromosomes; then, adding m new chromosomes into the initial population to form a new population, wherein a new goods position picking sequence is recorded in the new population;

step 2018, judging whether the genetic evolution reaches the maximum iteration number maxgen set in the step 2011, if so, executing the step 2019, otherwise, returning to the step 2016;

step 2019, first, according to the new goods position sorting order recorded in the new population and according to the formula

Calculating fitness values F for all individuals, wherein T_qIn order to pay the time cost according to the q-th goods position picking sequence in the new population, the value of q is an integer smaller than the number of all individuals in the new population; then, taking the individual with the maximum fitness value as a new global optimal solution;

20110, first, according to the formula

τ_ij(t+1)=γ·τ_ij(t)+(1-γ)Δτ_ij(t)

Performing global pheromone updating, judging whether the loop times round of the search path set in the step 2011 are reached, if so, outputting the optimal solution in the step 2019 and emptying a tabu table, and if not, returning to the step 2013; wherein gamma is a persistence coefficient of the global update pheromone track, gamma is more than or equal to 0 and less than or equal to 1, and delta tau_ij(t) is the amount of change in pheromone and

${\mathrm{\Δ\τ}}_{\mathrm{ij}}\left(t\right)=\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{\mathrm{\Δ\τ}}_{\mathrm{ij}}^k\left(t\right)$

wherein,

pheromone increment left on a path between cargo i and cargo j for ant k passing through the path

Wherein k is an integer and has a value range of 1-m, Q is the total amount of pheromones, and L_kThe total length of the path taken by the ant k in the current cycle.

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