CN111443734B - Multi-channel operation control system and method for compact shelving - Google Patents
Multi-channel operation control system and method for compact shelving Download PDFInfo
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- CN111443734B CN111443734B CN202010200891.0A CN202010200891A CN111443734B CN 111443734 B CN111443734 B CN 111443734B CN 202010200891 A CN202010200891 A CN 202010200891A CN 111443734 B CN111443734 B CN 111443734B
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Abstract
The invention relates to the technical field of movable rack motion control, and discloses a movable rack multichannel operation control system and a movable rack multichannel operation control method, wherein the control system comprises a main control module, a motion strategy module, a multichannel detection module, a movable rack control module and a hardware detection device; the intelligent compact shelf multichannel algorithm is optimized, the hardware detection module of the compact shelf is added into the software algorithm, so that the efficiency of parameter setting, strategy execution, strategy detection and feedback execution in the compact shelf multichannel strategy is greatly improved, the self-adaptability of multichannel operation is improved, the compact shelf management personnel can conveniently operate the compact shelf body and data, the working efficiency is improved, the workload of the management personnel is reduced, and the man-machine interaction friendliness of the intelligent compact shelf control system is enhanced.
Description
Technical Field
The invention relates to the technical field of movable rack motion control, in particular to a movable rack multichannel operation control system and method.
Background
In the places such as libraries, archives and banks where a large amount of books, archives and data are required to be stored, in order to save space, a compact shelf is required to be used for storing the data, and in the actual use process of the compact shelf, in order to save the workload of personnel operation, an intelligent compact shelf control system taking a low-voltage control module, a motor and a safety monitoring device as cores is generated. In general, in order to save time, the intelligent compact shelf can only open one channel at the same time. In some special occasions, a plurality of people can operate data in different compact shelving channels at the same time, so that the intelligent compact shelving control system can simultaneously open a plurality of compact shelving channels under the condition of space permission, and parallel operation of operators is guaranteed, so that working time and workload are saved. The existing intelligent compact shelving control system capable of carrying out multi-channel operation on the market has the problems that the channel number cannot be set, the channels cannot be closed under the condition that the channel is not opened to the maximum channel number, the compact shelving needs to be closed when the opened channel number reaches the set maximum channel number and needs to be operated continuously, compact shelving data are initialized, and the like, so that a multi-channel strategy added for solving the problem of intelligent compact shelving operation efficiency and convenience becomes an important obstacle for reducing the compact shelving operation efficiency. The multi-channel operation strategy of the compact shelf disclosed by the invention optimizes the intelligent multi-channel algorithm of the compact shelf based on the problems in the actual operation, and the hardware detection module of the compact shelf is added into the software algorithm, so that the efficiency of parameter setting, strategy execution, strategy detection and feedback execution in the multi-channel strategy of the compact shelf is greatly improved, the self-adaptability of multi-channel operation is improved, the operation of compact shelf management personnel on the compact shelf body and data is greatly facilitated, the working efficiency is improved, the workload of management personnel is reduced, and the man-machine interaction friendliness of the intelligent compact shelf control system is enhanced.
Disclosure of Invention
The invention aims to provide a multi-channel operation control system and method for an intelligent compact shelf, aiming at solving the problems of low efficiency and unreasonable operation flow of the existing intelligent compact shelf in the multi-channel operation process, and improving the multi-channel operation efficiency of the intelligent compact shelf and the man-machine interaction friendliness of the intelligent compact shelf based on queuing algorithm, compact shelf hardware state detection reporting and other means under the condition that the shelf body of the compact shelf is ensured to operate stably.
The invention is realized in such a way that, in a first aspect, the invention provides a multi-channel operation control system for a compact shelf, for controlling multi-channel operation of the compact shelf, the compact shelf comprises a plurality of movable column shelf bodies, and the compact shelf can form a plurality of channels through mutual movement among the plurality of movable column shelf bodies; the control system comprises a main control module, a motion strategy module, a multi-channel detection module, a plurality of mobile frame control modules and a plurality of hardware detection devices; wherein the method comprises the steps of
The main control module is used for setting necessary parameters for multi-channel operation of the compact shelf;
the movement strategy module is in communication connection with the main control module and is used for formulating an operation strategy of multi-channel operation of the compact shelf according to the necessary parameters;
the multichannel detection module is in communication connection with the motion strategy module and is used for detecting the execution condition of the operation strategy and feeding back the execution condition to the mobile frame control module.
The movable frame control modules are respectively in one-to-one correspondence with a movable frame body corresponding to the movable frame control modules, are in communication connection with the multi-channel detection module, and are used for receiving the operation strategy formulated by the motion strategy module and executing the operation strategy so as to control the movable frame body to perform corresponding motion according to the operation strategy; or receiving the execution condition fed back by the multi-channel detection module, and controlling the movement of the movable rack body according to the execution condition, so that the compact rack fully executes the operation strategy.
The hardware detection devices are respectively in one-to-one correspondence with the channels of the compact shelving, are in communication connection with the multi-channel detection modules, and are used for detecting the opening/closing conditions of the corresponding channels.
Further, the necessary parameters include the total column number m of the movable column frame, the total number N of channels, the maximum number N of channels which can be opened, and the openable distance d of each channel.
In a second aspect, the present invention provides a multi-channel operation method of a compact shelf, where the multi-channel operation control system of the compact shelf is used to control multi-channel operation of the compact shelf, the compact shelf includes a control shelf and m moving column shelf bodies, all of which are located at the left side of the control shelf, and the m moving column shelf bodies are numbered in sequence from the control shelf to the control shelf: l (L) 1 ，L 2 ，…，L m The method comprises the steps of carrying out a first treatment on the surface of the A channel can be formed between the two movable row frame bodies, at most (m-1) channels can be formed, and the channels are sequentially numbered as T along the direction from far from the control frame to near the control frame 1 ,T 2 ,…，T m-1 The method comprises the steps of carrying out a first treatment on the surface of the The maximum number of channels which are supported to be opened simultaneously is N, and the number of channels which are required to be opened when the compact shelf operates is M (M<In the direction from the control rack to the control rack, the channels to be opened are sequentially numbered as T a ，T b ，…，T c Wherein { a, b, …, c }. Epsilon.1, 2, …, m-1}, the compact shelf has three different states,the method comprises the following steps: a fully closed state, a fully opened state in which the corresponding channel is completed according to the instruction, and a temporary stop state in which the opening or closing instruction of the frame body is not completely executed;
A. when the compact shelf is in a completely closed state, the compact shelf multichannel operation method comprises the following steps: determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan The method comprises the steps of carrying out a first treatment on the surface of the From L 1 Column to L m The columns are traversed, each column has a moving target position, and the current column number is L X (1<＝x<＝m)，L X Is followed by the following movement:
(1) If x < = a, the leftmost column of moving column frame body moves to the target position (M) through the moving frame control module, and the rest columns stop moving based on the data detected by the hardware detection device;
(2) If a < x < = b, moving la+1 columns to a target position (M-1) by a moving frame control module, and stopping moving the rest columns according to the data detected by the hardware detection device;
(3) Sequentially moving the movable column frame body between the next two channels to be opened backwards through the movable frame control module according to the step (2), and taking the data detected by the hardware detection device as a judgment basis;
(4) If y < x < = c, the nth channel, ly, moves to the target position (M-n+1) Dchan, and the rest columns stop moving based on the data detected by the hardware detection device;
(5) If c < x, all the moving columns are closed by the moving frame control module;
B. when the compact shelf is in a temporary stop state of incompletely executing a shelf body opening or closing instruction, the compact shelf does not have a completely opened channel at the moment in the temporary stop state, and is in a state that some channels are not completely opened, and some channels are in a closed state, and the compact shelf multichannel operation method comprises the following steps: determining each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment where the compact shelf is locatedMaximum distance D at which the track can be opened chan The method comprises the steps of carrying out a first treatment on the surface of the From L 1 Column to L m The columns are traversed, each column has a moving target position, and the current column number is L x (1<＝x<＝m)，L X Is followed by the following movement:
(1) Acquiring column numbers L of all opened or incompletely opened compact shelving channels k Real-time distance d of opening k ；
(2) If x<The leftmost column of moving columns is moved to the target position (M) x D by the moving column control module chan The rest columns stop moving based on the data detected by the hardware detection device;
(3) If a is<x<＝b，L a+1 The columns are moved to the target position (M-1) by the moving frame control module chan The rest columns stop moving based on the data detected by the hardware detection device;
(4) Sequentially moving a moving column between two channels to be opened backwards through a moving frame control module according to the step (2), and taking data detected by a hardware detection device as a judgment basis;
(5) If y<x<=c, nth channel, L y Move to target position (M-n+1) D chan The rest columns stop moving based on the data detected by the hardware detection device;
(6) If c < x, all the movable row frame bodies are closed through the movable frame control module, and the data detected by the hardware detection device is used as the reference;
C. when the compact shelving is in a fully opened state in which the corresponding channels are completed according to the instruction, in this state, some designated channels of the compact shelving are already in a fully opened state, and in the case where no compact shelving channels are temporarily stopped, the number of channels that have been opened is Y (Y<N, column number L d ，L e ，…L f The multi-channel operation method of the compact shelf comprises the following steps:
(1) Determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan ；
(2) Traversing the channels to find the moving column numbers L of the opened Y channels d ，L e ，…，L f ；
(3) In D S To identify the distance of the column to be opened from the opened column, and to select one of the columns L to be opened b ，L b Move column number L with Y channels opened d ，L e ，…，L f The distance of (2) is D respectively d ，D e ，…，D f Find the shortest distance D x Considered to be open L b Optimal path of column, T b Expressed and recorded, the process is expressed as d=find (L x ) Definition, L x Indicating the column number to be opened.
(4) The passage L to be opened a ，L b ，…，L c By d=find (L x ) Can find the optimal path D ax ，D bx ，…，D cx Optimal path location D for performing operations on all channels in parallel tx ，D tx ＝Sum(D ax ，D bx ，…，D cx )；
(5) When the optimal path is sought, the same opened channel cannot be shared, and if the opened channel is insufficient, the left-most residual channel space is selected as the optimal path. Thus the input order of the opened channels is different when the optimal path is sought, and the final D t And also different. The passage L to be opened a ，L b ，…，L c There are multiple arrangements and combinations C 1 ，…，C m Each C is x Each has a D txc This process is defined as: d (D) txcx ＝F(C x )；
(6) From D txc1 ，…，D txcm Find the smallest D txcmin This process is defined as D txcmin ＝Min(D txc1 ，…，D txcm ) Determining an optimal arrangement C of open channels min Thereby determining an optimal path for each column to be opened;
(7) From L 1 Column to L m The columns are moved in a traversal process,each moving column has a moving target position, and the data uploaded by the hardware detection device is used as the reference. Currently, the mobile column number is L x (L 1 <＝L x <＝L m ) Each channel has a distance D chan First, count L x The optimal number of channels on the left is M, L 1 Move to target position (M-1) x D chan ，[L 1 ，L x ]The columns in between move left and stop with the data reported by the hardware detection device as the standard; if M is 0, then no operation is performed. This process is defined as y=move (L x ). Traversing from column L1 to Lm, each column performs y=move (L x ) The operation can finish all the moving operations;
(8) If the number of the opened channels is insufficient, the unoccupied channels can be selected as the optimal path, the complete closing and temporary stopping state of the compact shelf can be regarded as that the number of the opened channels is 0, and the remaining channels are the maximum openable channels.
Compared with the prior art, the multi-channel operation control system and the method for the compact shelving provided by the invention have the advantages that on the basis of a single-channel operation strategy of a common intelligent compact shelving, the multi-channel parameter setting is added, the main control module is used as a carrier, the multi-channel operation strategy of the compact shelving is operated, the movable shelf control module is used as a specific strategy to formulate an object, the hardware detection device is used as a data detection auxiliary means, the multi-channel detection module is used as a detection judgment mechanism, the correct completion of the multi-channel operation strategy of the compact shelving is ensured, the flexibility of the multi-channel setting of the compact shelving is improved, the operability and interactive friendliness of the multi-channel operation of the intelligent compact shelving are improved, the channel operation time of the compact shelving is effectively shortened, the operation efficiency of the compact shelving body is improved, and the workload of a librarian on the operation of the compact shelving is reduced.
Drawings
FIG. 1 is a schematic view of a compact shelf according to an embodiment of the present invention;
FIG. 2 is a block diagram of a multi-channel operation control system for a compact shelf according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fully closed state of the compact shelf according to an embodiment of the present invention;
FIG. 4 is a schematic view of a temporary stop state of the compact shelf in an embodiment of the present invention;
fig. 5 is a schematic view of a fully opened compact shelf in an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
The implementation of the present invention will be described in detail below with reference to specific embodiments.
Referring to fig. 1-5, a preferred embodiment of the present invention is provided.
Fig. 1 is a schematic structural view of a compact shelf, and referring to fig. 1, the compact shelf includes a plurality of movable column frame bodies 1, each movable column frame body 1 has a placement area 2 for placing articles, an openable or closable passage 3 is provided between two adjacent movable column frame bodies 1, and when the two adjacent movable column frame bodies 1 move relatively, the opening and closing of the passage 3 therebetween can be achieved.
In a first aspect, the present invention provides a multi-channel operation control system for a compact shelf, for controlling multi-channel operation of the compact shelf, where the compact shelf includes a plurality of movable column frame bodies 1, and the compact shelf can form a plurality of channels 3 by mutual movement of the plurality of movable column frame bodies 1; the control system comprises a main control module 4, a motion strategy module 5, a multi-channel detection module 6, a plurality of mobile frame control modules 7 and a plurality of hardware detection devices 8; wherein the method comprises the steps of
The main control module 4 is used for setting necessary parameters for multi-channel operation of the compact shelf;
the movement strategy module 5 is in communication connection with the main control module 4 and is used for formulating an operation strategy of multi-channel operation of the compact shelf according to necessary parameters;
the multi-channel detection module 6 is in communication connection with the motion strategy module 5 and is used for detecting the execution condition of the operation strategy and feeding back the execution condition to the mobile frame control module 7.
The movable frame control module 7 is in communication connection with the multi-channel detection module 6, and is used for receiving the operation strategy formulated by the motion strategy module 5 and executing the operation strategy, so as to control the movable frame body 1 to perform corresponding motion according to the operation strategy; or receiving the execution condition fed back by the multi-channel detection module 6, and controlling the movement of the movable rack body 1 according to the execution condition, so that the compact rack fully executes the operation strategy.
The hardware detection devices 8 are respectively in one-to-one correspondence with the channels 3 of the compact shelving, the hardware detection devices 8 are in communication connection with the multi-channel detection modules 6, and the hardware detection devices 8 are used for detecting the opening/closing conditions of the corresponding channels 3.
Further, the necessary parameters include the total number of columns m of the movable column frame, the total number of channels N, the maximum number of channels N that can be opened, and the openable distance d per channel.
In a second aspect, the invention provides a multi-channel operation method of a compact shelf, which uses the multi-channel operation control system of the compact shelf to control multi-channel operation of the compact shelf, the compact shelf comprises a control shelf and m movable column shelf bodies 1, the m movable column shelf bodies 1 are all positioned on the left side of the control shelf, and the control shelf is used for controlling the multi-channel operation of the compact shelf from far away from the control shelf to near to the control shelfThe direction of the control frame, the m movable row frame bodies 1 are numbered in sequence as follows: l (L) 1 ，L 2 ，…，L m The method comprises the steps of carrying out a first treatment on the surface of the A channel can be formed between the two movable row frame bodies 1, at most (m-1) channels can be formed, and the channels are sequentially numbered as T along the direction from the control frame to the control frame 1 ,T 2 ,…，T m-1 The method comprises the steps of carrying out a first treatment on the surface of the The maximum number of channels which are supported to be opened simultaneously is N, and the number of channels which are required to be opened when the compact shelf operates is M (M<In the direction from the control rack to the control rack, the channels to be opened are sequentially numbered as T a ，T b ，…，T c Wherein { a, b, …, c } ∈ {1,2, …, m-1}, the compact shelf has three different states, respectively: the method comprises the following steps of a complete closing state, a complete opening state of a corresponding channel according to an instruction, and a temporary stopping state of opening or closing the bracket body after complete execution of the instruction.
As shown in fig. 3, when the compact shelf is in the completely closed state, the compact shelf multi-channel operation method comprises the following steps: determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan The method comprises the steps of carrying out a first treatment on the surface of the From L 1 Column to L m The columns are traversed, each column has a moving target position, and the current column number is L X (1<＝x<＝m)，L X Is followed by the following movement:
(1) If x < = a, the leftmost column of moving column frame body 1 moves to the target position (M) by the moving frame control module, and the rest columns stop moving based on the data detected by the hardware detection device;
(2) If a < x < = b, moving la+1 columns to a target position (M-1) by a moving frame control module, and stopping moving the rest columns according to the data detected by the hardware detection device;
(3) The movable column frame body 1 between the next two channels to be opened is moved backwards through the movable frame control module according to the step (2), and the data detected by the hardware detection device is used as a judgment basis;
(4) If y < x < = c, the nth channel, ly, moves to the target position (M-n+1) Dchan, and the rest columns stop moving based on the data detected by the hardware detection device;
(5) If c < x, all the moving columns are closed by the moving frame control module.
The condition that the multi-channel of the compact shelf is opened is based on the data uploaded by the multi-channel detection module.
As shown in fig. 4, when the compact shelf is in a temporary stop state in which the opening or closing instruction of the shelf body is not completely executed, the compact shelf is in a temporary stop state, and at this time, there are no completely opened channels of the compact shelf, some channels are not completely opened, and some channels are still in a closed state, and the compact shelf multi-channel operation method includes: determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan The method comprises the steps of carrying out a first treatment on the surface of the From L 1 Column to L m The columns are traversed, each column has a moving target position, and the current column number is L x (1<＝x<＝m)，L X Is followed by the following movement:
(1) Acquiring column numbers L of all opened or incompletely opened compact shelving channels k Real-time distance d of opening k ；
(2) If x<The leftmost column of moving columns 1 is moved to the target position (M) ×d by the moving column control module chan The rest columns stop moving based on the data detected by the hardware detection device;
(3) If a is<x<＝b，L a+1 The columns are moved to the target position (M-1) by the moving frame control module chan The rest columns stop moving based on the data detected by the hardware detection device;
(4) Sequentially moving a moving column between two channels to be opened backwards through a moving frame control module according to the step (2), and taking data detected by a hardware detection device as a judgment basis;
(5) If y<x<=c, nth channel, L y Move to target position (M-n+1) D chan The rest columns stop moving based on the data detected by the hardware detection device;
(6) If c < x, all the movable rack bodies 1 are closed by the movable rack control module, and the data detected by the hardware detection device is used as the reference.
The condition that the multi-channel of the compact shelf is opened is based on the data uploaded by the multi-channel detection module.
As shown in FIG. 5, when the compact shelf is in the fully opened state in which the corresponding channels are completed according to the instruction, in this state, some designated channels of the compact shelf are already in the fully opened state, and in the case that no compact shelf channel is in the temporary stop, the number of channels that have been opened is Y (Y<N, column number L d ，L e ，…L f The multi-channel operation method of the compact shelf comprises the following steps:
(1) Determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan ；
(2) Traversing the channels to find the moving column numbers L of the opened Y channels d ，L e ，…，L f 。；
(3) In D S To identify the distance of the column to be opened from the opened column, and to select one of the columns L to be opened b ，L b Move column number L with Y channels opened d ，L e ，…，L f The distance of (2) is D respectively d ，D e ，…，D f Find the shortest distance D x Considered to be open L b Optimal path of column, T b Expressed and recorded, the process is expressed as d=find (L x ) Definition, L x A column number indicating to be opened;
(4) The passage L to be opened a ，L b ，…，L c By d=find (L x ) Can find the optimal path D ax ，D bx ，…，D cx Optimal path location D for performing operations on all channels in parallel tx ，D tx ＝Sum(D ax ，D bx ，…，D cx )；
(5) When the optimal path is sought, the same opened channel cannot be shared, and if the opened channel is insufficient, the left-most residual channel space is selected as the optimal path. Thus the input order of the opened channels is different when the optimal path is sought, and the final D t And also different. The passage L to be opened a ，L b ，…，L c There are multiple arrangements and combinations C 1 ，…，C m Each C is x Each has a D txc This process is defined as: d (D) txcx ＝F(C x )；
(6) From D txc1 ，…，D txcm Find the smallest D txcmin This process is defined as D txcmin ＝Min(D txc1 ，…，D txcm ) Determining an optimal arrangement C of open channels min Thereby determining an optimal path for each column to be opened;
(7) From L 1 Column to L m The columns are traversed, and each moving column has a moving target position and is based on the data uploaded by the hardware detection device. Currently, the mobile column number is L x (L 1 <＝L x <＝L m ) Each channel has a distance D chan First, count L x The optimal number of channels on the left is M, L 1 Move to target position (M-1) x D chan ，[L 1 ，L x ]The columns in between move left and stop with the data reported by the hardware detection device as the standard; if M is 0, then no operation is performed. This process is defined as y=move (L x ). Traversing from column L1 to Lm, each column performs y=move (L x ) The operation can finish all the moving operations;
(8) If the number of the opened channels is insufficient, the unoccupied channels can be selected as the optimal path, the complete closing and temporary stopping state of the compact shelf can be regarded as that the number of the opened channels is 0, and the remaining channels are the maximum openable channels.
The condition that the multi-channel of the compact shelf is opened is based on the data uploaded by the multi-channel detection module.
According to the multi-channel operation control system and method for the compact shelving, on the basis of a single-channel operation strategy of a common intelligent compact shelving, multi-channel parameter setting is added, a main control module is used as a carrier to operate the multi-channel operation strategy of the compact shelving, a movable shelf control module is used as a specific strategy making object, a hardware detection device is used as a data detection auxiliary means, and the multi-channel detection module is used as a detection judgment mechanism to ensure that the multi-channel operation strategy of the compact shelving is correctly completed, so that the flexibility of the multi-channel setting of the compact shelving is improved, the operability and interactive friendliness of the multi-channel operation of the intelligent compact shelving are improved, the channel operation time of the compact shelving is effectively shortened, the operation efficiency of a shelf body is improved, and the workload of a librarian on the operation of the compact shelving is reduced.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (2)
1. The multi-channel operation control system of the compact shelf is characterized by being used for controlling multi-channel operation of the compact shelf, the compact shelf comprises a plurality of movable row shelf bodies, and the compact shelf can form a plurality of channels through mutual movement among the movable row shelf bodies; the control system comprises a main control module, a motion strategy module, a multi-channel detection module, a plurality of mobile frame control modules and a plurality of hardware detection devices; wherein the method comprises the steps of
The main control module is used for setting necessary parameters for multi-channel operation of the compact shelf;
the movement strategy module is in communication connection with the main control module and is used for formulating an operation strategy of multi-channel operation of the compact shelf according to the necessary parameters;
the multichannel detection module is in communication connection with the motion strategy module and is used for detecting the execution condition of the operation strategy and feeding back the execution condition to the mobile frame control module;
the movable frame control modules are respectively in one-to-one correspondence with a movable frame body corresponding to the movable frame control modules, are in communication connection with the multi-channel detection module, and are used for receiving the operation strategy formulated by the motion strategy module and executing the operation strategy so as to control the movable frame body to perform corresponding motion according to the operation strategy; or receiving the execution condition fed back by the multi-channel detection module, and controlling the movement of the movable rack body according to the execution condition so that the compact rack fully executes the operation strategy;
the hardware detection devices are respectively in one-to-one correspondence with the channels of the compact shelving, are in communication connection with the multi-channel detection modules and are used for detecting the opening/closing conditions of the corresponding channels;
the compact shelf comprises a control shelf and m movable shelf bodies, wherein the m movable shelf bodies are all positioned on the left side of the control shelf, and are numbered in sequence along the direction from the control shelf to the control shelf: l (L) 1 ，L 2 ，…，L m The method comprises the steps of carrying out a first treatment on the surface of the A channel can be formed between the two movable row frame bodies, at most (m-1) channels can be formed, and the channels are sequentially numbered as T along the direction from far from the control frame to near the control frame 1 ,T 2 ,…，T m-1 The method comprises the steps of carrying out a first treatment on the surface of the The maximum number of channels which are supported to be opened simultaneously is N, and the number of channels which are required to be opened when the compact shelf operates is M (M<In the direction from the control rack to the control rack, the channels to be opened are sequentially numbered as T a ，T b ，…，T c Wherein { a, b, …, c } ∈ {1,2, …, m-1}, the compact shelf has three different states, respectively: a fully closed state, a fully opened state in which the corresponding channel is completed according to the instruction, and a temporary stop state in which the opening or closing instruction of the frame body is not completely executed;
A. when the compact shelf is in a completely closed state, the compact shelf multichannel operation method comprises the following steps: according to the maximum number N and density of channels which are supported to be opened simultaneouslyDetermining the maximum distance D of each channel which can be opened when N channels in the compact shelf run according to the space size of the environment where the collecting shelf is located chan The method comprises the steps of carrying out a first treatment on the surface of the From L 1 Column to L m The columns are traversed, each column has a moving target position, and the current column number is L X (1<＝x<＝m)，L X Is followed by the following movement:
(1) If x < = a, the leftmost column of moving column frame body moves to the target position (M) through the moving frame control module, and the rest columns stop moving based on the data detected by the hardware detection device;
(2) If a < x < = b, moving la+1 columns to a target position (M-1) by a moving frame control module, and stopping moving the rest columns according to the data detected by the hardware detection device;
(3) Sequentially moving the movable column frame body between the next two channels to be opened backwards through the movable frame control module according to the step (2), and taking the data detected by the hardware detection device as a judgment basis;
(4) If y < x < = c, the nth channel, ly, moves to the target position (M-n+1) Dchan, and the rest columns stop moving based on the data detected by the hardware detection device;
(5) If c < x, all the moving columns are closed by the moving frame control module;
B. when the compact shelf is in a temporary stop state of incompletely executing a shelf body opening or closing instruction, the compact shelf does not have a completely opened channel at the moment in the temporary stop state, and is in a state that some channels are not completely opened, and some channels are in a closed state, and the compact shelf multichannel operation method comprises the following steps: determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan The method comprises the steps of carrying out a first treatment on the surface of the From L 1 Column to L m The columns are traversed, each column has a moving target position, and the current column number is L x (1<＝x<＝m)，L X Is followed by the following movement:
(1) Acquiring column numbers L of all opened or incompletely opened compact shelving channels k Real-time distance d of opening k ；
(2) If x<The leftmost column of moving columns is moved to the target position (M) x D by the moving column control module chan The rest columns stop moving based on the data detected by the hardware detection device;
(3) If a is<x<＝b，L a+1 The columns are moved to the target position (M-1) by the moving frame control module chan The rest columns stop moving based on the data detected by the hardware detection device;
(4) Sequentially moving a moving column between two channels to be opened backwards through a moving frame control module according to the step (2), and taking data detected by a hardware detection device as a judgment basis;
(5) If y<x<=c, nth channel, L y Move to target position (M-n+1) D chan The rest columns stop moving based on the data detected by the hardware detection device;
(6) If c < x, all the movable row frame bodies are closed through the movable frame control module, and the data detected by the hardware detection device is used as the reference;
C. when the compact shelving is in a fully opened state in which the corresponding channels are completed according to the instruction, in this state, some designated channels of the compact shelving are already in a fully opened state, and in the case where no compact shelving channels are temporarily stopped, the number of channels that have been opened is Y (Y<N, column number L d ，L e ，…L f The multi-channel operation method of the compact shelf comprises the following steps:
(1) Determining the maximum distance D which can be opened by each channel when N channels in the compact shelf run according to the maximum number N of channels which are supported to be opened simultaneously and the space size of the environment in which the compact shelf is positioned chan ；
(2) Traversing the channels to find the moving column numbers L of the opened Y channels d ，L e ，…，L f ；
(3) In D S To identify the distance of the column to be opened from the opened column, and to select one of the columns L to be opened b ，L b Move columns with Y channels openedNumber L d ，L e ，…，L f The distance of (2) is D respectively d ，D e ，…，D f Find the shortest distance D x Considered to be open L b Optimal path of column, T b Expressed and recorded, the process is expressed as d=find (L x ) Definition, L x A column number indicating to be opened;
(4) The passage L to be opened a ，L b ，…，L c By d=find (L x ) Can find the optimal path D ax ，D bx ，…，D cx Optimal path location D for performing operations on all channels in parallel tx ，D tx ＝Sum(D ax ，D bx ，…，D cx )；
(5) When an optimal path is sought, the same opened channel cannot be shared, and if the opened channel is insufficient, the left-most residual channel space is selected as the optimal path; thus the input order of the opened channels is different when the optimal path is sought, and the final D t Also different; the passage L to be opened a ，L b ，…，L c There are multiple arrangements and combinations C 1 ，…，C m Each C is x Each has a D txc This process is defined as: d (D) txcx ＝F(C x )；
(6) From D txc1 ，…，D txcm Find the smallest D txcmin This process is defined as D txcmin ＝Min(D txc1 ，…，D txcm ) Determining an optimal arrangement C of open channels min Thereby determining an optimal path for each column to be opened;
(7) From L 1 Column to L m Performing traversing movement on the columns, wherein each moving column has a moving target position, and the data uploaded by the hardware detection device is used as the reference; currently, the mobile column number is L x (L 1 <＝L x <＝L m ) Each channel has a distance D chan First, count L x The optimal number of channels on the left is M, L 1 Move to target position (M-1) x D chan ，[L 1 ，L x ]The columns in between move left and stop with the data reported by the hardware detection device as the standard; if M is 0, not operating; this process is defined as y=move (L x ) The method comprises the steps of carrying out a first treatment on the surface of the Traversing from column L1 to Lm, each column performs y=move (L x ) The operation can finish all the moving operations;
(8) If the number of the opened channels is insufficient, the unoccupied channels can be selected as the optimal path, the complete closing and temporary stopping state of the compact shelf can be regarded as that the number of the opened channels is 0, and the remaining channels are the maximum openable channels.
2. The multi-channel operation control system of claim 1, wherein the necessary parameters include a total number of columns m of the movable column frame, a total number of channels N, a maximum number of channels N supported to be opened, and an openable distance d per channel.
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