CN105319988B - A kind of analogue system and method for Multilayer shuttle car access system - Google Patents
A kind of analogue system and method for Multilayer shuttle car access system Download PDFInfo
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- CN105319988B CN105319988B CN201510783320.3A CN201510783320A CN105319988B CN 105319988 B CN105319988 B CN 105319988B CN 201510783320 A CN201510783320 A CN 201510783320A CN 105319988 B CN105319988 B CN 105319988B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23456—Model machine for simulation
Abstract
The present invention provides a kind of analogue system and method for Multilayer shuttle car access system, it is possible to increase testing efficiency, reduces testing cost.The system includes：Shelf module, for depositing goods, shelf location parameter includes：The numbering of shelf, the floor number of shelf, goods lattice number and specific goods yard number；Lift module, by the outbound buffer area of cargo transport to corresponding task designated floor or buffer area is put in storage for receiving first task, and according to the task order of the first task received；Shuttle module, for receiving the second task, and according to the task order shelf location of specifying cargo transport to corresponding task of the second task received or the outbound buffer area of designated floor, complete the horizontal direction transport of goods.The present invention is applied to intelligent three-dimensional storage technique field.
Description
Technical field
The present invention relates to intelligent three-dimensional storage technique field, particularly relates to a kind of for the imitative of Multilayer shuttle car access system
True system and method.
Background technology
Multilayer shuttle car access system (Shuttle Based Storage and Retrieval System, SBS/RS)
A kind of new-type automated warehouse storage system of box storage is applied to, its structure is as shown in figure 1, Multilayer shuttle car accesses system bag
Include：Railway guidance cart system (Rail-Guided Vehicles System, RGVS), (Rail- of railway guidance dolly 1
Guided Vehicles, RGV), goods buffer area 2, the goods yard on shelf 3, elevator system 4.Wherein, railway guidance dolly 1
Realize the operationies on incoming and outgoing inventory of goods by being moved horizontally on the track between automatic stereowarehouse goods yard, its move vertically according to
Completed by the elevator system for being placed in warehouse edge.
Emulation (Emulation) is the system model established in a computer as real system, passes through emulation experiment
Avoid as shown in Figure 2 in the cost caused by real system experiment, its principle.In SBS/RS systems, the control of its daemon software
Logic processed is extremely important, and the developing direction of SBS/RS systems also tends to control software more sophisticated.If control logic designs
It is bad, because lift and shuttle read respective task respectively, as total system, shuttle and lift just occurs
Deadlock, wait as long for, conflict and phenomena such as efficiency is low, if the testing and control in true Multilayer shuttle car access system
Logic, there can be the problem of risk and low testing efficiency of damage in kind.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of analogue system for Multilayer shuttle car access system and side
Method, to solve to be controlled logic testing to real Multilayer shuttle car access system present in prior art, reality can be caused
The problem of thing damages and testing efficiency is low.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of emulation system for Multilayer shuttle car access system
System, including：
Shelf module, for depositing goods, shelf location parameter includes：The numbering of shelf, the floor number of shelf, goods lattice number
And specific goods yard number；
Lift module, goods is transported for receiving first task, and according to the task order of the first task received
Transport to the outbound buffer area or storage buffer area of corresponding task designated floor；
Shuttle module, goods is transported for receiving the second task, and according to the task order of the second task received
Shelf location that corresponding task specifies or the outbound buffer area of designated floor are transported to, completes the horizontal direction transport of goods.
Further, the lift module includes：Cargo elevator sensor control block；
The cargo elevator sensor control block, for when cargo elevator is in busy condition, will receive
First task is stored in first task table；
When cargo elevator is in idle condition, the outbound that control cargo elevator reaches current task designated floor is delayed
Area or storage buffer area are deposited, after completing current task, next task in first task table is read according to task order and continues
Perform.
Further, when the shuttle module uses patrolling shuttle control logic, each floor has one
Sensor control block；The corresponding shuttle for belonging to This floor of sensor control block of each floor.
Further, sensor control block corresponding to the first floor, for when the first shuttle corresponding to the first floor
During in busy condition, the second task will be received and be stored in the second task list.
Further, sensor control block corresponding to the first floor, for when the first shuttle corresponding to the first floor
When in idle condition and current task classification being outbound task, then the state of first shuttle is set to busy, simultaneously
Control first shuttle to reach the goods in the shelf location extraction shelf location that current task is specified, and sent
Toward the outbound buffer area of the first floor, after completing current task, next task in the second task list is read according to task order
And continue executing with.
Further, sensor control block corresponding to the first floor, for when the first shuttle corresponding to the first floor
When in idle condition and current task classification being storage task, then the state of first shuttle is set to busy, simultaneously
Control first shuttle to reach the goods in the storage buffer area extraction storage buffer area of the first floor, and sent
The shelf location specified toward current task, after completing current task, next in the second task list is read according to task order
It is engaged in and continues executing with.
Further, when the shuttle module uses roaming type shuttle control logic, each floor has one
Sensor control block, different floors can share a shuttle.
Further, sensor control block corresponding to the first floor, for when shuttle is not present in the first floor, then
Information in shuttle state table is read, it is determined that the shuttle in idle condition nearest apart from first floor, and control
The shuttle performs the task of the first floor；
The lift module also includes：Shuttle lift；
The shuttle lift, before the shuttle in idle condition of the first floor described in command range recently
Toward the first floor.
Further, sensor control block corresponding to the first floor, for when the first floor has shuttle and described wears
When shuttle car is in busy condition, the second task will be received and be stored in the second task list；
When the first floor has shuttle and the shuttle is in idle condition, then the state of the shuttle is set to
It is busy, while according to the classification of current task, the goods in the shelf location that current task is specified is sent to going out for the first floor
Goods in the storage buffer area of first floor is sent to the shelf location that current task specifies by banked cache area, is completed as predecessor
After business, read next task in the second task list according to task order and continue executing with.
The embodiment of the present invention also provides a kind of emulation mode for Multilayer shuttle car access system, including：
The first task information of warehouse management system issue is received, and the first task information received is stored to first
In task list, according to the task order in first task table by the outbound buffer area of cargo transport to corresponding task designated floor or
Be put in storage buffer area；
The second mission bit stream of warehouse management system issue is received, and the second mission bit stream received is stored to second
In task list, according to the task order in the second task list, the shelf location that cargo transport to corresponding task is specified or specified
The outbound buffer area of floor, the horizontal direction transport of goods is completed, realizes the joint debugging with warehouse management system.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, lift module and shuttle module receive the task that warehouse management system issues respectively；Lifting
Machine module by the outbound buffer area of cargo transport to corresponding task designated floor or enters banked cache according to received task order
Area；The shelf location or designated floor that shuttle module specifies cargo transport to corresponding task according to received task order
Outbound buffer area, complete goods horizontal direction transport.So, by way of release tasks, Multilayer shuttle car is accessed
The analogue system of system is docked with warehouse management system, analogue system driving simulation by way of reading task form, is produced
Operation result as true Multilayer shuttle car access system, realizes virtual test and joint debugging, so as to verify that true multilayer is worn
Shuttle car accesses the accuracy of system control logic, and can reduce testing cost, improves testing efficiency, and it can be found that system control
Rule processed, the control ability of the control logic of Computer Aided Design Multilayer shuttle car, further raising system.
Brief description of the drawings
Fig. 1 is the structural representation of automated warehouse storage system provided in an embodiment of the present invention；
Fig. 2 is analogue system schematic diagram provided in an embodiment of the present invention；
Fig. 3 is the structural representation of the analogue system provided in an embodiment of the present invention that system is accessed for Multilayer shuttle car；
Fig. 4 is the control logic schematic diagram of cargo elevator sensor control block provided in an embodiment of the present invention；
Fig. 5 is the control logic schematic diagram of patrolling shuttle provided in an embodiment of the present invention；
Fig. 6 is the control logic schematic diagram of roaming type shuttle provided in an embodiment of the present invention；
Fig. 7 is the flow chart of the emulation mode provided in an embodiment of the present invention that system is accessed for Multilayer shuttle car.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
The present invention is controlled logic testing for existing to real Multilayer shuttle car access system, can cause material object
A kind of the problem of damage and testing efficiency are low, there is provided analogue system and method for Multilayer shuttle car access system.
Embodiment one
Referring to shown in Fig. 3, a kind of analogue system for Multilayer shuttle car access system provided in an embodiment of the present invention, wrap
Include：
Shelf module 101, for depositing goods, shelf location parameter includes：The numbering of shelf, the floor number of shelf, goods
Lattice number and specific goods yard number；
Lift module 102, for receiving first task, and according to the first task received task order by goods
Transport to the outbound buffer area of corresponding task designated floor or storage buffer area；
Shuttle module 103, for receiving the second task, and according to the second task received task order by goods
The shelf location specified to corresponding task or the outbound buffer area of designated floor are transported, completes the horizontal direction transport of goods.
The analogue system for Multilayer shuttle car access system described in the embodiment of the present invention, lift module and shuttle
Module receives the task that warehouse management system (Warehouse management system, WMS) issues respectively；Lift mould
Block by the outbound buffer area of cargo transport to corresponding task designated floor or enters according to the task order of the first task received
Banked cache area；The goods that shuttle module specifies cargo transport to corresponding task according to the task order of the second task received
The outbound buffer area of rack position or designated floor, complete the horizontal direction transport of goods.So, by way of release tasks,
The analogue system of Multilayer shuttle car access system is docked with warehouse management system, analogue system is by reading the side of task form
Formula driving simulation, the operation result as true Multilayer shuttle car access system is produced, realizes virtual test and joint debugging, so as to
The accuracy of true Multilayer shuttle car access system control logic is verified, and testing cost can be reduced, improves testing efficiency, and
It can be found that system control law, the control ability of the control logic of Computer Aided Design Multilayer shuttle car, further raising system.
In the embodiment of the present invention, shelf module, for simulating the shelf in true Multilayer shuttle car access system.In order to
The goods on a certain specific goods yard and goods yard is enough found using a kind of simple mode, the name for goods yard has to
There is strict naming rule.In the embodiment of the present invention, the position parameter data of a shelf includes：Rack, Shelf, Bay,
Bin, wherein, Rack represents the numbering of shelf；Shelf represents the floor number of shelf；Bay represents goods lattice number；Bin represents specific
Goods yard number, if each goods lattice only has two goods yards, then Bin value also only has two, can be represented with 0 and 1, so,
Can to find specific shelf location, (shelf location can also claim by the such one group of data of Rack_Shelf_Bay_Bin
For goods yard position) coordinate.Further, in simulation process, shuttle can just run to specific shelf location coordinate
To complete task, certainly, for outbound task, it is necessary to find out the goods placed in the storage space by this group of data.
In the embodiment of the present invention, lift module is main for simulating the lift in true Multilayer shuttle car access system
If realize the transport of goods and shuttle vertical direction.In order that whole analogue system operation it is more controllable and stably,
The control mode driven using job order.That is lift module reads mission bit stream all the time, fully according to task order by goods
It is transported to different floors.
In the embodiment of the present invention, shuttle module is main for simulating the shuttle in true Multilayer shuttle car access system
If the transport of horizontal direction is realized to goods.Control mode the same with lift, also being driven using job order.That is shuttle
Module reads the information of corresponding task all the time, fully according to task order by cargo transfer to different horizontal levels.
It is further, described in the embodiment of the foregoing analogue system for Multilayer shuttle car access system
Lift module includes：Cargo elevator sensor control block；
The cargo elevator sensor control block, for when cargo elevator is in busy condition, will receive
First task is stored in first task table；
When cargo elevator is in idle condition, the outbound that control cargo elevator reaches current task designated floor is delayed
Area or storage buffer area are deposited, after completing current task, next task in first task table is read according to task order and continues
Perform.
In the embodiment of the present invention, the cargo elevator sensor control block, goods vertical direction is mainly realized
Transport.Emulate start when, cargo elevator sensor control block can read the in first task table according to task order
One task, and control cargo elevator to go to the floor specified to complete picking (outbound) or goods putting (storage) according to current task
Task：If reaching a certain outbound buffer area carries out picking, and the outbound buffer area does not have goods, then the cargo elevator is just
It can be waited, or wait conveyer belt to be sent to goods, or wait shuttle to be sent to goods, it is described after goods is sent to
Cargo elevator completes picking；If the task of goods putting, then cargo elevator can go to goods putting place, if goods putting place
Storage buffer area have vacant position, then goods is put into wherein, if the storage buffer area in goods putting place does not have room, then just etc.
Until untill there is room, then goods is put into wherein.Specifying for a task is thus completed at last.Then goods liter
Drop chance is gone to read the second task in first task table in sequence, and the execution of task is carried out according to logic above.Deng
When completion to all tasks, lift will be parked in the position finally stopped, not do any operation.
In the embodiment of the present invention, the control logic of cargo elevator sensor control block is shown referring to Fig. 4, W is represented
WMS, S_E_L represent cargo elevator sensor control block (cargo elevator Sensor), and E_L represents cargo elevator.
Wherein, the WMS, for cargo elevator Sensor release tasks, the sensor control block of each floor
(Sensor) release tasks.
The cargo elevator Sensor, for receiving the task from WMS, and the operation of cargo elevator is controlled, and
Store tasks form T_SEL, when current task is not completed, if WMS again to cargo elevator Sensor release tasks,
Then by task record in form T_SEL, etc. being completed again after the completion of current task in form T_SEL for task.
The cargo elevator, outbound and storage task are completed for receiving cargo elevator Sensor control, often
Individual floor has storage buffer area buffer (B_I) and outbound buffer area buffer (B_O), and goods will be entered by being respectively intended to keep in
The goods of frame and the goods for leaving shelf.
In the embodiment of the present invention, shuttle module can build patrolling (Captive) shuttle and roaming type
(Roaming) simulation model of shuttle both of which.The control logic of cargo elevator is consistent in both of which, shuttle
Control logic is different with roaming type because of patrolling.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, work as institute
When stating shuttle module and using patrolling shuttle control logic, each floor has a sensor control block；Each building
The corresponding shuttle for belonging to This floor of the sensor control block of layer.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, first
Sensor control block corresponding to floor, for when the first shuttle corresponding to the first floor is in busy condition, will receive
It is stored in the second task in the second task list.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, first
Sensor control block corresponding to floor, for being in idle condition and current task when the first shuttle corresponding to the first floor
When classification is outbound task, then the state of first shuttle is set to busy, while controls first shuttle to reach
Shelf location that current task is specified extracts the goods in the shelf location, and that is sent to the first floor goes out banked cache
Area, after completing current task, read next task in the second task list according to task order and continue executing with.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, first
Sensor control block corresponding to floor, for being in idle condition and current task when the first shuttle corresponding to the first floor
When classification is storage task, then the state of first shuttle is set to busy, while controls first shuttle to reach
Goods in the storage buffer area extraction storage buffer area of first floor, and it is sent to the shelf position that current task is specified
Put, after completing current task, read next task in the second task list according to task order and continue executing with.
In the embodiment of the present invention, when the shuttle module uses patrolling shuttle control logic, start in emulation
When, shuttle module reads the first task in the second task list according to task order, and according to the specifying information of task, control
Shuttle goes to the place specified to go execution task：If storage task, then first reach storage caching zone position and go to take needs
The goods of storage, if there is no goods to be waited in storage buffer area, wait transporting goods to cargo elevator always
It is sent to untill reaching, then takes goods away again, the storage shelf location (at storage goods yard) of the goods is just run to afterwards, by goods
It is put into wherein；If outbound task, then shuttle first runs to the shelf location (at goods yard) of the goods of the needs outbound, takes
Go out the goods, then go to the outbound of this layer to cache zone position, if outbound buffer area is free position, be directly put into goods
Wherein, if there is no free position, wait, wait until free outbound caching zone position and be put into goods wherein.Thus
A task is completed at last.Then proceed to read the second task in the second task list, go to complete to appoint according to logic above
Business.Until all tasks are all completed, shuttle is just parked in the position finally stopped, and there is no other any operations.
In the embodiment of the present invention, patrolling shuttle control logic is illustrated in figure 5, W represents that WMS, S represent each floor
Sensor control block (Sensor), V represents shuttle, and S_E_L represents that cargo elevator Sensor, E_L represent goods liter
Drop machine.
Wherein, the WMS, for cargo elevator Sensor release tasks, the sensor control block of each floor
(Sensor) release tasks.
Control centres of the Sensor as floor, for receiving to appoint from the WMS floor outbounds issued or storage
Business, and the task of receiving is distributed to storage and outbound task that the shuttle that have invoked completes floor；Each floor (L) has
There is the task form (T_S) of oneself in one Sensor, each Sensor, when current floor task is not completed, if WMS
Again to the Sensor release tasks, then by task record in form T_S, wait and complete this again after the completion of current floor task and appoint
Business.
The shuttle, for completing specific outbound and storage task, each floor has a shuttle, each worn
Shuttle car only serves floor where oneself, and each shuttle has two states：Busy and idle, Sensor can only be called and is in
The shuttle of idle condition.
The cargo elevator Sensor, for receiving the task from WMS, and cargo elevator is controlled, and store and appoint
Be engaged in form T_SEL；When current task is not completed, if WMS will appoint again to cargo elevator Sensor release tasks
Business is recorded in form T_SEL, etc. completing again after the completion of current task in form T_SEL for task.
The cargo elevator, outbound and storage task are completed for receiving cargo elevator Sensor control, often
Individual floor has storage buffer area buffer (B_I) and outbound buffer area buffer (B_O), and goods will be entered by being respectively intended to keep in
The goods of frame and the goods for leaving shelf.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, work as institute
When stating shuttle module and using roaming type shuttle control logic, each floor has a sensor control block, different buildings
Layer can share a shuttle.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, first
Sensor control block corresponding to floor, for when shuttle is not present in the first floor, then reading in shuttle state table and believing
Breath, it is determined that the shuttle in idle condition nearest apart from first floor, and control the shuttle to perform the first floor
Task；
The lift module also includes：Shuttle lift；
The shuttle lift, before the shuttle in idle condition of the first floor described in command range recently
Toward the first floor.
In the embodiment of the foregoing analogue system for Multilayer shuttle car access system, further, first
Sensor control block corresponding to floor, for when the first floor has shuttle and the shuttle is in busy condition, inciting somebody to action
The second task is received to be stored in the second task list；
When the first floor has shuttle and the shuttle is in idle condition, then the state of the shuttle is set to
It is busy, while according to the classification of current task, the goods in the shelf location that current task is specified is sent to going out for the first floor
Goods in the storage buffer area of first floor is sent to the shelf location that current task specifies by banked cache area, is completed as predecessor
After business, read next task in the second task list according to task order and continue executing with.
When the shuttle module uses roaming type shuttle control logic,
In the embodiment of the present invention, the control logic of roaming type shuttle is similar with the control logic of patrolling shuttle, no
It is floor when no shuttle needs shuttle with part, it is necessary to the empty shuttle of other floor is looked for, can be with
Nearest car is found, can find farthest car, nearest car can be to wait for and performed task, can directly look for recently
Idle shuttle etc., have the logics of many kinds to judge which shuttle is most suitable.
In the embodiment of the present invention, it is used as the mode for finding shuttle using a function, if desired other modes,
Only need to change the computation rule of this function.When beginning look for shuttle, read first in shuttle state form
Information, available free shuttle is found out, if it is not, again reading off shuttle state after waiting default time interval
Information in form, untill available free shuttle.Then the floor information where the shuttle that is recorded in table, meter are passed through
Available shuttle is calculated to the distance of This floor, then chooses wherein nearest one, its state is set to it is busy, then
Floor gap transport is carried out to shuttle using shuttle lift simultaneously.
In the embodiment of the present invention, the control logic of roaming type shuttle is illustrated in figure 6, W represents that WMS, S represent each building
The sensor control block (Sensor) of layer, V represent shuttle, and E_V represents shuttle lift, and S_E_L represents goods lifting
Machine Sensor, E_L represent cargo elevator.
Wherein, the WMS, for cargo elevator Sensor release tasks, the sensor control block of each floor
(Sensor) release tasks.
Control centres of the Sensor as floor, for receiving to appoint from the WMS floor outbounds issued or storage
Business, find the shuttle that can be used and call shuttle lift that shuttle is transported into corresponding floor, and will be specific
Task be distributed to storage and outbound task that the shuttle that have invoked completes This floor.Each floor (L) has one
The task form (T_S) of oneself be present in Sensor, each Sensor, when current floor task is not completed, if WMS again to
The Sensor release tasks, then by task record in form T_S, wait and complete this task again after the completion of current floor task.
The shuttle, for completing specific outbound and storage task.More floors share a shuttle.The shuttle
Car is called by Sensor, coordinates shuttle lift to be used between each floor.Using a form (T_V) to record
There is the status information of shuttle.Two states be present in shuttle：Busy and idle, Sensor can only call the shuttle of idle condition
Car.
The shuttle lift, for being called by Sensor, the transport between the floor of responsible shuttle.Each
Floor has a buffer (B_V), it is necessary to which the shuttle of transfer floor waits herein.By the shuttle of transfer floor from this
In enter floor.Be present a task form (T_EV) in shuttle lift, for recording calling task, and perform in order.
The cargo elevator Sensor, for receiving the task from WMS, and cargo elevator is controlled, and store and appoint
Be engaged in form T_SEL；When current task is not completed, if WMS will appoint again to cargo elevator Sensor release tasks
Business is recorded in form T_SEL, etc. completing again after the completion of current task in form T_SEL for task.
The cargo elevator, outbound and storage task are completed for receiving cargo elevator Sensor control, often
Individual floor has storage buffer area buffer (B_I) and outbound buffer area buffer (B_O), and goods will be entered by being respectively intended to keep in
The goods of frame and the goods for leaving shelf.
In the embodiment of the present invention, by establishing the control logic of lift, patrolling shuttle and roaming type shuttle, make
Simulation model can be multiplexed, so as to for different simulating scenes rapid build models, by the emulation experiment of cost free,
It can be found that more system rules, Computer Aided Design Multilayer shuttle car control software, so as to further improve the control energy of system
Power.
Embodiment two
The present invention also provides a kind of embodiment of the emulation mode for Multilayer shuttle car access system, due to this
What invention provided accesses the emulation mode of system and the foregoing emulation for Multilayer shuttle car access system for Multilayer shuttle car
The embodiment of system is corresponding, and the emulation mode that system should be accessed for Multilayer shuttle car can be by performing above-mentioned side
Process step in method embodiment realizes the purpose of the present invention, therefore above-mentioned for Multilayer shuttle car access system
Explanation in analogue system embodiment, it is also applied for the Multilayer shuttle car provided by the invention that is directed to and accesses system
The embodiment of emulation mode, it will not be described in great detail in the embodiment below the present invention.
Referring to shown in Fig. 7, the embodiment of the present invention also provides a kind of emulation mode for Multilayer shuttle car access system, bag
Include：
S1, receive warehouse management system issue first task information, and by the first task information received store to
In first task table, cargo transport is gone out into banked cache to corresponding task designated floor according to the task order in first task table
Area or storage buffer area；
S2, receive warehouse management system issue the second mission bit stream, and by the second mission bit stream received store to
In second task list, according to the task order in the second task list, the shelf location that cargo transport to corresponding task is specified or
The outbound buffer area of designated floor, the horizontal direction transport of goods is completed, realizes the joint debugging with warehouse management system.
The emulation mode for Multilayer shuttle car access system described in the embodiment of the present invention, is received under warehouse management system
The first task information of hair, and the first task information received is stored into first task table, according in first task table
Task order by the outbound buffer area of cargo transport to corresponding task designated floor or storage buffer area；Receive storehouse management system
Second mission bit stream of system issue, and the second mission bit stream received is stored into the second task list, according to the second task
Believe the outbound buffer area of the task order in table, the shelf location that cargo transport to corresponding task is specified or designated floor, it is complete
Horizontal direction into goods is transported.So, by way of release tasks, by Multilayer shuttle car access system analogue system with
Real warehouse management system is docked, analogue system driving simulation by way of reading task form, is produced and true
The same operation result of Multilayer shuttle car access system, realizes virtual test and joint debugging, so as to verify that true Multilayer shuttle car is deposited
The accuracy of system control logic is taken, and testing cost can be reduced, improves testing efficiency, and it can be found that system control rule
Rule, the control ability of the control logic of Computer Aided Design Multilayer shuttle car, further raising system.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
- A kind of 1. analogue system for Multilayer shuttle car access system, it is characterised in that including：Shelf module, for depositing goods, shelf location parameter includes：The numbering of shelf, the floor number of shelf, goods lattice number and tool The goods yard number of body；Lift module, for receiving first task, and according to the first task received task order by cargo transport extremely The outbound buffer area or storage buffer area of corresponding task designated floor；Shuttle module, for receiving the second task, and according to the second task received task order by cargo transport extremely The shelf location or the outbound buffer area of designated floor that corresponding task is specified, complete the horizontal direction transport of goods；Wherein, the lift module includes：Cargo elevator sensor control block；The cargo elevator sensor control block, for when cargo elevator is in busy condition, first will to be received Task is stored in first task table；When cargo elevator is in idle condition, control cargo elevator reaches the outbound buffer area of current task designated floor Or storage buffer area, after completing current task, read next task in first task table according to task order and continue executing with；Wherein, when the shuttle module uses patrolling shuttle control logic, each floor has a sensor control Molding block；The corresponding shuttle for belonging to This floor of sensor control block of each floor；Sensor control block corresponding to first floor, for being in busy condition when the first shuttle corresponding to the first floor When, the second task will be received and be stored in the second task list；Sensor control block corresponding to first floor, for when the first shuttle corresponding to the first floor be in idle condition and When current task classification is outbound task, then the state of first shuttle is set to busy, while controls described first to wear Shuttle car reaches the goods in the shelf location extraction shelf location that current task is specified, and is sent to going out for the first floor Banked cache area, after completing current task, read next task in the second task list according to task order and continue executing with；Sensor control block corresponding to first floor, for when the first shuttle corresponding to the first floor be in idle condition and When current task classification is storage task, then the state of first shuttle is set to busy, while controls described first to wear Shuttle car reaches the goods in the storage buffer area extraction storage buffer area of the first floor, and is sent to current task and specified Shelf location, complete current task after, according to task order read the second task list in next task and continue executing with；Wherein, when the shuttle module uses roaming type shuttle control logic, each floor has a sensor control Molding block, different floors can share a shuttle；Sensor control block corresponding to first floor, for when shuttle is not present in the first floor, then reading shuttle shape Information in state table, it is determined that the shuttle in idle condition nearest apart from first floor, and control the shuttle to perform The task of first floor；The lift module also includes：Shuttle lift；The shuttle lift, the shuttle in idle condition nearest for the first floor described in command range go to the One floor；Sensor control block corresponding to first floor, for working as, the first floor has shuttle and the shuttle is in busy shape During state, the second task will be received and be stored in the second task list；When the first floor has shuttle and the shuttle is in idle condition, then the state of the shuttle is set to busy It is commonplace, while according to the classification of current task, the goods in the shelf location that current task is specified is sent to the outbound of the first floor Goods in the storage buffer area of first floor is sent to the shelf location that current task specifies by buffer area, completes current task Afterwards, read next task in the second task list according to task order and continue executing with.
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| CN106503855A (en) * | 2016-10-26 | 2017-03-15 | 广州智网联运物流有限公司 | A kind of logistics transportation method and system |
| CN107161445B (en) * | 2017-06-16 | 2020-07-31 | 东莞晶苑毛织制衣有限公司 | Automatic processing system for finishing clothes |
| CN109902983B (en) * | 2017-12-08 | 2021-09-03 | 北京京东乾石科技有限公司 | Method and device for controlling transport devices in unmanned silos |
| CN109941658B (en) | 2017-12-20 | 2020-09-01 | 北京京东振世信息技术有限公司 | Cargo transmission system, method and device |
| CN110070240A (en) * | 2018-01-22 | 2019-07-30 | 北京京东尚科信息技术有限公司 | A kind of turnover box dispatching method and device |
| CN108557498A (en) * | 2018-03-06 | 2018-09-21 | 顺丰速运有限公司 | Unit load devices transshipment center and unit load devices conveyer method |
| CN109782718B (en) * | 2019-01-23 | 2020-08-11 | 江西银河表计有限公司 | Finished product management method and system for finished product warehouse of electric energy meter |
| CN111985860A (en) * | 2019-05-21 | 2020-11-24 | 北京京东乾石科技有限公司 | Task processing method and device |
| CN110817223A (en) * | 2019-11-18 | 2020-02-21 | 江苏六维智能物流装备股份有限公司 | Scheduling simulation method based on intelligent three-dimensional warehouse of stacker |
| CN113534783A (en) * | 2020-04-15 | 2021-10-22 | 北京旷视机器人技术有限公司 | Distribution method and device of transport vehicles in warehouse and electronic equipment |
| CN117556637A (en) * | 2023-12-29 | 2024-02-13 | 珠海格力智能装备有限公司 | Method, device, equipment and storage medium for simulating operation of feed bin library shuttle |
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| US6092010A (en) * | 1997-09-03 | 2000-07-18 | Jervis B. Webb Company | Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles |
| CN101944200A (en) * | 2010-07-15 | 2011-01-12 | 深圳职业技术学院 | Method and system for dispatching container trucks |
| CN104122879B (en) * | 2014-08-13 | 2017-05-03 | 成都四威高科技产业园有限公司 | AGV (Automatic Guided Vehicle) calling display control system based on ZIGBEE local area network |
| CN104346658B (en) * | 2014-11-19 | 2018-05-04 | 广东电网有限责任公司电力科学研究院 | System dynamic dispatching method is accessed based on the automatic vehicle for improving banker's algorithm |
| CN104609086B (en) * | 2015-01-12 | 2017-01-11 | 世仓智能仓储设备（上海）股份有限公司 | Four-directional shuttle vehicle control system based on road right tokens |
| CN105022862B (en) * | 2015-06-16 | 2018-06-12 | 北京科技大学 | A kind of automatic vehicle access system modular emulation and optimization system |
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