CN117852988A - Cooperative control method for neutron mother vehicle and elevator in intelligent warehousing system - Google Patents
Cooperative control method for neutron mother vehicle and elevator in intelligent warehousing system Download PDFInfo
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Abstract
A cooperative control method of a child-mother vehicle and a lifter in an intelligent storage system relates to the technical field of intelligent storage, a visual map of a warehouse is built by utilizing a GIS technology, whether the cargo is transported across floors or not is judged according to the storage position of the cargo, if not, the running track of the child-mother vehicle is preliminarily planned to obtain a first nearest track, the running track of the child-mother vehicle is planned again to obtain a plurality of nearest tracks in the running process, if yes, the running tracks of the two child-mother vehicles are preliminarily planned to obtain a first fastest track, the running tracks of the two child-mother vehicles are planned again to obtain a plurality of fastest tracks in the running process, the target lifter of the two child-mother vehicles is obtained, and the lifting speed of the target lifter is adjusted to realize the shortest time-consuming interaction of the three; can form effectual linking between different floors, improve the efficiency of goods transportation greatly, can reduce the condition emergence that the transportation is crowded effectively, improve storage management's intellectuality.
Description
Technical Field
The invention relates to the technical field of intelligent storage, in particular to a cooperative control method of a neutron mother vehicle and a lifter in an intelligent storage system.
Background
The primary and secondary vehicles are special equipment for carrying and storing cargoes in places such as a warehouse or a logistics center, the elevator is equipment for vertically transporting materials, the equipment is mainly used for carrying and storing cargoes in places such as a warehouse, a factory, a logistics center and the like, and in an intelligent storage system, the primary and secondary vehicles and the elevator are usually required to be controlled cooperatively so as to realize efficient storage operation;
in the prior art, a single management method is often adopted for the management of the sub-units for transporting different floors, the interaction problem of the sub-units and the elevator is not considered, so that the efficiency of cargo transportation is low, in the prior art, the transportation time consumption of the single sub-unit is mostly considered to be reduced, the influence of the single sub-unit on the transportation time consumption of other sub-units is ignored, the single sub-unit cannot be treated as a whole, the intelligent level of warehouse management is low, and the invention provides a cooperative control method of the sub-units and the elevator in an intelligent warehouse system.
Disclosure of Invention
The invention aims to provide a cooperative control method for a neutron mother car and a lifting machine in an intelligent storage system.
The aim of the invention can be achieved by the following technical scheme: a cooperative control method of a parent car and a lifter in an intelligent warehousing system comprises the following steps:
step S1: constructing a visual map of the warehouse by using a GIS technology, collecting basic information of a primary and secondary vehicle and a lifter of the warehouse, updating the real-time state of the basic information, collecting cargo information to be processed, and distributing the cargo information to the corresponding primary and secondary vehicle;
step S2: judging whether the goods are transported across floors or not according to the storage positions of the goods, if not, entering a step S3, and if so, entering a step S4;
step S3: dividing the running tracks of the warehouse to obtain a plurality of running sub-tracks, performing preliminary planning on the running tracks of the sub-parent vehicles to obtain a primary nearest track, and performing planning on the running tracks of the sub-parent vehicles again in the running process to obtain multiple nearest tracks;
step S4: distributing cargoes to the primary and secondary vehicles of the corresponding floors, performing preliminary planning on the running tracks of the two primary and secondary vehicles to obtain a primary fastest track, and performing secondary planning on the running tracks of the two primary and secondary vehicles in the running process to obtain a plurality of maximum speed tracks;
step S5: and obtaining target hoisting machines of the two primary and secondary vehicles, establishing communication connection among the two hoisting machines, and adjusting the hoisting speed of the target hoisting machines to realize the shortest time-consuming interaction of the three hoisting machines.
Further, the process of constructing the visual map of the warehouse by using the GIS technology comprises the following steps:
and acquiring warehouse layout data, shelf layout data and equipment distribution data, constructing a visual map of the warehouse according to the acquired data by utilizing a GIS technology, and checking the constructed visual map through a mobile terminal.
Further, the process of collecting basic information of the primary and secondary vehicles and the elevator of the warehouse, updating actual states thereof, collecting cargo information to be processed and distributing the cargo information to the corresponding primary and secondary vehicles comprises the following steps:
basic information of the primary and secondary vehicles is collected, wherein the basic information of the elevator is collected, the basic information comprises load capacity, moving speed and real-time position, the real-time state of the primary and secondary vehicles and the elevator is obtained, the real-time state comprises a use state and an idle state, the information of the goods to be processed is collected, the information comprises the goods name, the goods number, the goods specification, the warehousing time and the warehousing position, and the goods are distributed to the primary and secondary vehicles in the idle state according to the goods specification.
Further, the process of judging whether the goods are transported across floors according to the storage positions of the goods comprises the following steps:
the method comprises the steps of obtaining the current floor of the goods, judging whether the goods are transported across floors according to the obtained storage position, marking the goods as the current floor for transportation if the storage position of the goods is located at the current floor, and marking the goods as the transportation across floors if the storage position of the goods is not located at the current floor.
Further, the process of dividing the running tracks of the warehouse to obtain a plurality of running sub-tracks and preliminarily planning the running tracks of the sub-parent vehicles to obtain a nearest track comprises the following steps:
in the visual map, all steerable intersections of the running track of the warehouse are obtained, the running track is divided into a plurality of running sub-tracks by taking the steerable intersections as dividing nodes, a primary nearest track is constructed between the current vehicle position of the sub-main vehicle and the storage position of goods, and the primary nearest track is the running track in an ideal state.
Further, during the driving process, the process of planning the driving track of the primary and secondary vehicles again to obtain a plurality of nearest tracks comprises the following steps:
when the primary and secondary vehicles travel to the next dividing node, planning the travel track again, dividing the travel secondary track into an unvented state and a traversable state, and planning the primary and secondary vehicles once again once every time the primary and secondary vehicles reach the dividing node;
the Dijkstra algorithm is adopted to obtain the shortest passable track between the vehicle position and the storage position, the shortest passable track is marked as a plurality of nearest tracks, the plurality of nearest tracks simultaneously meet two conditions, all the running sub-tracks forming the plurality of nearest tracks must be connected end to end, and all the running sub-tracks forming the plurality of nearest tracks must be in a passable state.
Further, the process of primarily planning the traveling tracks of the two primary and secondary vehicles to obtain a primary fastest track by distributing the cargoes to the primary and secondary vehicles on the corresponding floors comprises the following steps:
under the condition of cross-floor transportation, the goods are distributed to the primary and secondary vehicles of the floors corresponding to the storage positions, the positions of the elevators are taken as the intersection points of the running tracks of the two floors, the positions of the vehicles of the two primary and secondary vehicles are taken as the starting points, the same intersection points are taken as the end points, a primary fastest track is constructed among the three vehicles, and the primary fastest track is the running track in an ideal state.
Further, during the driving process, the process of planning the driving tracks of the two primary and secondary vehicles again to obtain the plurality of maximum speed tracks comprises the following steps:
planning the running tracks of the two primary and secondary vehicles again respectively to obtain all passable schemes and the passing duration thereof from the vehicle position to the junction point, and further obtaining all passable schemes and the corresponding passing duration of all primary and secondary vehicles in use state in the same floor;
in the same time period, two primary and secondary vehicles with opposite running directions cannot exist on any running secondary track at the same time, the sum of the running time durations of the passable schemes finally adopted by the primary and secondary vehicles is the smallest, the passable schemes finally adopted by the primary and secondary vehicles are marked as a plurality of fastest tracks, and when the number of the primary and secondary vehicles in use state in the same floor is increased or decreased, one-time re-planning is performed.
Further, the process of obtaining the target hoisting machines of the two primary and secondary vehicles, establishing communication connection between the three, and adjusting the hoisting speed of the target hoisting machines to realize the shortest time-consuming interaction of the three comprises the following steps:
marking elevators corresponding to the intersection points of two primary and secondary cars as target elevators of the two primary and secondary cars, establishing communication connection among the three elevators, wherein the hoisting speed of the target elevators can be adjusted to obtain a first hoisting duration and a first prompting path of the primary and secondary car at the current floor, and when the remaining path between the primary and secondary car and the target elevators is smaller than the first prompting path, controlling the target elevators to move to the current floor at the lowest hoisting speed for interaction;
and when the remaining distance between the primary and secondary vehicles and the target elevator is smaller than the second prompting distance, and after the target elevator and the primary and secondary vehicles of the current floor are interacted, the target elevator is controlled to move to the corresponding floor for interaction at the highest lifting speed, so that the shortest interaction time of the primary and secondary vehicles is ensured.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the cargo storage is divided into two types of floor transportation and cross-floor transportation, and two different treatment methods are adopted for the cargo storage, so that the condition that the cargo transportation management of different floors is disordered by only considering the cargo transportation and mixing the primary and secondary vehicles for the two types of transportation is avoided, the lifting speed of the lifting machine is regulated to minimize the interaction time consumption, and the effective connection can be formed between different floors, thereby greatly improving the cargo transportation efficiency;
2. for the floor transportation, the shortest distance is used as a standard, so that all the primary and secondary vehicles cannot stay on the running track for a long time, the shared running track can be timely reserved for the cross-floor transportation, the most balanced speed is used as a standard, the common time consumption of all the primary and secondary vehicles is considered, the situation that the transportation of all the primary and secondary vehicles is smooth and the time consumption of all the primary and secondary vehicles is too long is avoided, the occurrence of the situation of transportation congestion can be effectively reduced, and the intellectualization of storage management is improved.
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FIG. 1 is a flow chart of the present invention.
Detailed Description
As shown in fig. 1, the cooperative control method for the primary and secondary vehicles and the elevator in the intelligent storage system comprises the following steps:
step S1: constructing a visual map of the warehouse by using a GIS technology, collecting basic information of a primary and secondary vehicle and a lifter of the warehouse, updating the real-time state of the basic information, collecting cargo information to be processed, and distributing the cargo information to the corresponding primary and secondary vehicle;
step S2: judging whether the goods are transported across floors or not according to the storage positions of the goods, if not, entering a step S3, and if so, entering a step S4;
step S3: dividing the running tracks of the warehouse to obtain a plurality of running sub-tracks, performing preliminary planning on the running tracks of the sub-parent vehicles to obtain a primary nearest track, and performing planning on the running tracks of the sub-parent vehicles again in the running process to obtain multiple nearest tracks;
step S4: distributing cargoes to the primary and secondary vehicles of the corresponding floors, performing preliminary planning on the running tracks of the two primary and secondary vehicles to obtain a primary fastest track, and performing secondary planning on the running tracks of the two primary and secondary vehicles in the running process to obtain a plurality of maximum speed tracks;
step S5: and obtaining target hoisting machines of the two primary and secondary vehicles, establishing communication connection among the two hoisting machines, and adjusting the hoisting speed of the target hoisting machines to realize the shortest time-consuming interaction of the three hoisting machines.
It should be further noted that, in the implementation process, the process of constructing the visual map of the warehouse by using the GIS technology includes:
collecting various data necessary for constructing a visual map of a warehouse, including but not limited to warehouse layout data, shelf layout data and equipment distribution data;
the warehouse layout data comprise the actual size of a warehouse, the distribution condition of different floors, the positions and the sizes of walls, channels and doors, the shelf layout data comprise the positions, the number, the types and the layout of shelves, and the equipment distribution data comprise the positions, the paths, the working ranges and the charging stations of equipment such as a primary car, a secondary car, a lifting machine, a conveyor and the like;
and constructing a visual map of the warehouse according to the acquired various data by utilizing a GIS technology, and checking the constructed visual map by related personnel through a mobile terminal, wherein the constructed visual map only comprises the acquired various data and does not comprise other data of the warehouse.
It should be further described that, in the specific implementation process, the process of collecting the basic information of the primary and secondary vehicles and the lifter of the warehouse, updating the real-time state thereof, collecting the information of the goods to be processed, and distributing the information to the corresponding primary and secondary vehicles includes:
basic information of a primary and secondary vehicle is collected, the primary and secondary vehicle is divided into a primary vehicle and a secondary vehicle, the basic information comprises load capacity, moving speed and real-time position, the basic information of a hoisting machine is collected, the position of the hoisting machine is fixed, and the basic information comprises load capacity and hoisting speed;
the method comprises the steps of obtaining real-time states of a primary car, a secondary car and a lifting machine, marking the primary car and the lifting machine as the use states if the primary car and the lifting machine are in use, marking the primary car and the lifting machine as the idle states if the primary car and the lifting machine are in idle, and uploading the obtained real-time states to a visual map for synchronization;
the method comprises the steps of collecting cargo information to be processed, wherein the cargo information comprises but is not limited to cargo names, cargo numbers, cargo specifications, warehousing time and warehousing positions, and distributing the cargoes to corresponding sub-parent vehicles in idle states according to the acquired cargo specifications.
It should be further noted that, in the specific implementation process, the process of judging whether the goods are transported across floors according to the storage positions of the goods includes:
the method comprises the steps of obtaining the current floor of the goods, judging whether the goods are transported across floors according to the obtained storage position, wherein the storage position refers to a storage position expected by the goods, marking the goods as the floor for transportation if the storage position of the goods is located at the current floor, marking the goods as the floor for transportation if the storage position of the goods is not located at the current floor, entering step S3 when the goods are marked as the floor for transportation, and entering step S4 when the goods are marked as the floor for transportation.
It should be further described that, in the specific implementation process, the process of dividing the running track of the warehouse to obtain a plurality of running sub-tracks and performing preliminary planning on the running track of the sub-parent vehicle to obtain a nearest track includes:
in the constructed visual map, all steerable intersections of the running track of the warehouse are obtained, the obtained steerable intersections are used as dividing nodes for the running track, the running track of the warehouse is further divided into a plurality of running sub-tracks, and the running track between two adjacent dividing nodes is one running sub-track;
the method comprises the steps of taking the current vehicle position of a primary and secondary vehicle as a starting point, taking the storage position of goods as an end point, constructing a running track with the shortest path between the primary and secondary vehicles and marking the running track as a first nearest track, wherein the first nearest track is the running track under an ideal state, namely, the influence of the running tracks of other primary and secondary vehicles on the primary and secondary vehicles is not considered, the shortest path is only used as a planning purpose, and the 'primary' represents the running track as a first planning result.
It should be further noted that, in the implementation process, during the running process, the process of planning the running track of the parent-child vehicle again to obtain multiple nearest tracks includes:
when a primary-secondary vehicle drives to a next dividing node from a current dividing node, planning the running track of the primary-secondary vehicle again, wherein the re-planning needs to take the running track of other primary-secondary vehicles into consideration, if other primary-secondary vehicles exist on the running secondary track, marking the running secondary track as an unvented state, otherwise, marking the running secondary track as a passable state, and planning the primary-secondary vehicle once again every time the primary-secondary vehicle reaches the dividing node;
the method comprises the steps of obtaining the shortest passable track between the current vehicle position of a primary and secondary vehicle and the storage position of goods by adopting a Dijkstra algorithm, initializing the distance from the vehicle position to each partition node to infinity, initializing the distance from the vehicle position to the self to 0, and creating an empty priority queue to store the partition nodes which are not processed yet;
selecting a partition node closest to the vehicle position from the priority queue as a current node, removing the partition node from the priority queue, and for each adjacent partition node of the current node, obtaining the distance that the vehicle position reaches the adjacent partition node through the current node, and if the obtained distance is shorter than the distance recorded by the adjacent partition node, updating the distance of the adjacent partition node;
repeating the steps until all the dividing nodes are visited or the storage positions are included, backtracking the dividing nodes from the storage positions according to the shortest distance reverse sequence recorded by each dividing node to obtain the shortest passable track, and marking the shortest passable track as a second nearest track, wherein the 'second' represents the result that the driving track is planned for the second time, and the like, and the multiple nearest tracks also comprise three nearest tracks and … …;
the multiple nearest tracks must satisfy two conditions simultaneously, one of which is that each of the running sub-tracks constituting the multiple nearest tracks must be connected end to end, and the other of which is that each of the running sub-tracks constituting the multiple nearest tracks must be in a passable state.
It should be further noted that, in the implementation process, the process of distributing the goods to the primary and secondary vehicles of the corresponding floors and performing preliminary planning on the running tracks of the two primary and secondary vehicles to obtain the primary fastest track includes:
under the condition of cross-floor transportation, besides the goods distributed to the primary and secondary cars of the current floor, the goods are distributed to the primary and secondary cars of the corresponding floor, namely the floor corresponding to the storage position of the goods, wherein the primary and secondary cars can be lifted along with a lifting machine, so that the corresponding floor only needs to provide the corresponding primary car;
the position of each elevator is used as a junction of running tracks of two floors, namely, the lifting time of the elevator is not taken into consideration, the running tracks of the two floors are regarded as a directly connected running track, so that the track planning problem of two primary and secondary vehicles can be converted into a simple two-vehicle meeting problem, and the meeting position is the junction;
and respectively taking the positions of the two primary and secondary vehicles as a starting point and the same intersection point as an end point, constructing a running track with the shortest time consumption among the three, and marking the running track as a primary fastest track, wherein the primary fastest track is the running track under an ideal state, namely, the primary and secondary vehicles are not considered to influence the running track of other primary and secondary vehicles, only the shortest time consumption is taken as a planning purpose, and the primary running track is the first planning result.
It should be further noted that, in the specific implementation process, the process of planning the running tracks of the two primary and secondary vehicles again to obtain the multiple maximum speed tracks during the running process includes:
taking a primary-secondary vehicle at the current floor as an example, planning the running track again by adopting the same method in the running process to obtain all passable schemes from the vehicle position to the junction, and obtaining the passing time required by each passable scheme according to the moving speed of the primary-secondary vehicle to obtain all the primary-secondary vehicles in the current same floor in a use state, so as to obtain all the passable schemes of each primary-secondary vehicle and the corresponding passing time;
in the embodiment of the invention, two track planning conditions are set, wherein one track planning condition is that two sub-vehicles with opposite running directions cannot exist on any running sub-track at the same time period, and the other track planning condition is that the sum of the running duration of the passable scheme finally adopted by each sub-vehicle is the minimum;
the method comprises the steps of planning the running track of a primary-secondary vehicle on the current floor again by taking the running track as a standard, marking a passable scheme adopted finally as a secondary fastest track, wherein 'secondary' represents the result of the second planning of the running track, and the like, wherein the multiple fastest tracks also comprise tertiary fastest tracks and … …, and planning the primary-secondary vehicle again when the number of the primary-secondary vehicles in a use state in the same floor is increased or decreased;
and similarly, planning the running track of the allocated primary and secondary vehicles of the corresponding floors again by adopting the same method, and obtaining corresponding multiple maximum speed tracks, wherein the terminal points of the multiple maximum speed tracks of the two primary and secondary vehicles are the positions of the same elevator.
It should be further described that, in the implementation process, the process of obtaining the target hoisting machines of the two primary and secondary vehicles, establishing communication connection between the three, and adjusting the hoisting speed of the target hoisting machines to achieve the shortest time-consuming interaction of the three includes:
marking the obtained elevators corresponding to the intersection point of the two primary and secondary cars as target elevators of the two primary and secondary cars, and establishing communication connection between the primary and secondary car of the current floor and the primary and secondary car of the corresponding floor as well as the target elevators of the two primary and secondary cars;
in the embodiment of the invention, the lifting speed of the target lifting machine can be adjusted, the target lifting machine is provided with a plurality of different lifting speeds, for a primary-secondary vehicle of a current floor, the lowest lifting speed is used as a standard, the corresponding first lifting time length is obtained according to the height difference between the target lifting machine and the current floor, the first prompting distance of the primary-secondary vehicle of the current floor is obtained according to the first lifting time length and the moving speed of the primary-secondary vehicle, and when the remaining distance between the primary-secondary vehicle and the target lifting machine is smaller than the first prompting distance, the target lifting machine is controlled to move to the current floor at the lowest lifting speed for interaction;
and for the primary-secondary vehicle of the corresponding floor, taking the lowest lifting speed as a standard, obtaining corresponding second lifting time according to the height difference between the target lifting machine and the corresponding floor, obtaining a second prompting path of the primary-secondary vehicle of the corresponding floor according to the second lifting time and the moving speed of the primary-secondary vehicle, and controlling the target lifting machine to move to the corresponding floor for interaction at the highest lifting speed after the interaction between the target lifting machine and the primary-secondary vehicle of the current floor is completed when the remaining path between the primary-secondary vehicle and the target lifting machine is smaller than the second prompting path so as to ensure that the time consumption of the interaction of the three is shortest.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.
Claims (9)
1. The cooperative control method of the neutron mother vehicle and the elevator in the intelligent warehousing system is characterized by comprising the following steps of:
step S1: constructing a visual map of the warehouse by using a GIS technology, collecting basic information of a primary and secondary vehicle and a lifter of the warehouse, updating the real-time state of the basic information, collecting cargo information to be processed, and distributing the cargo information to the corresponding primary and secondary vehicle;
step S2: judging whether the goods are transported across floors or not according to the storage positions of the goods, if not, entering a step S3, and if so, entering a step S4;
step S3: dividing the running tracks of the warehouse to obtain a plurality of running sub-tracks, performing preliminary planning on the running tracks of the sub-parent vehicles to obtain a primary nearest track, and performing planning on the running tracks of the sub-parent vehicles again in the running process to obtain multiple nearest tracks;
step S4: distributing cargoes to the primary and secondary vehicles of the corresponding floors, performing preliminary planning on the running tracks of the two primary and secondary vehicles to obtain a primary fastest track, and performing secondary planning on the running tracks of the two primary and secondary vehicles in the running process to obtain a plurality of maximum speed tracks;
step S5: and obtaining target hoisting machines of the two primary and secondary vehicles, establishing communication connection among the two hoisting machines, and adjusting the hoisting speed of the target hoisting machines to realize the shortest time-consuming interaction of the three hoisting machines.
2. The cooperative control method of a parent car and a lifter in an intelligent warehouse system according to claim 1, wherein the process of constructing a visual map of the warehouse by using a GIS technology comprises the following steps:
and acquiring warehouse layout data, shelf layout data and equipment distribution data, constructing a visual map of the warehouse according to the acquired data by utilizing a GIS technology, and checking the constructed visual map through a mobile terminal.
3. The cooperative control method of a primary and secondary vehicle and a lifter in an intelligent storage system according to claim 2, wherein the process of collecting basic information of the primary and secondary vehicle and the lifter in the warehouse, updating actual states thereof, collecting cargo information to be processed, and distributing the cargo information to the corresponding primary and secondary vehicle comprises:
basic information of the primary and secondary vehicles is collected, wherein the basic information of the elevator is collected, the basic information comprises load capacity, moving speed and real-time position, the real-time state of the primary and secondary vehicles and the elevator is obtained, the real-time state comprises a use state and an idle state, the information of the goods to be processed is collected, the information comprises the goods name, the goods number, the goods specification, the warehousing time and the warehousing position, and the goods are distributed to the primary and secondary vehicles in the idle state according to the goods specification.
4. The cooperative control method of a parent car and a lifter in an intelligent warehousing system according to claim 3, wherein the process of judging whether the cargo is transported across floors according to the warehousing position of the cargo comprises the following steps:
the method comprises the steps of obtaining the current floor of the goods, judging whether the goods are transported across floors according to the obtained storage position, marking the goods as the current floor for transportation if the storage position of the goods is located at the current floor, and marking the goods as the transportation across floors if the storage position of the goods is not located at the current floor.
5. The cooperative control method of a parent-child vehicle and a lifter in an intelligent storage system according to claim 4, wherein the process of dividing a running track of a warehouse to obtain a plurality of running child tracks and preliminarily planning the running track of the parent-child vehicle to obtain a nearest track comprises:
in the visual map, all steerable intersections of the running track of the warehouse are obtained, the running track is divided into a plurality of running sub-tracks by taking the steerable intersections as dividing nodes, a primary nearest track is constructed between the current vehicle position of the sub-main vehicle and the storage position of goods, and the primary nearest track is the running track in an ideal state.
6. The cooperative control method of a parent-child vehicle and a hoist in an intelligent warehousing system according to claim 5, wherein the process of re-planning the travel track of the parent-child vehicle to obtain a plurality of nearest tracks during the travel process comprises:
when the primary and secondary vehicles travel to the next dividing node, planning the travel track again, dividing the travel secondary track into an unvented state and a traversable state, and planning the primary and secondary vehicles once again once every time the primary and secondary vehicles reach the dividing node;
the Dijkstra algorithm is adopted to obtain the shortest passable track between the vehicle position and the storage position, the shortest passable track is marked as a plurality of nearest tracks, the plurality of nearest tracks simultaneously meet two conditions, all the running sub-tracks forming the plurality of nearest tracks must be connected end to end, and all the running sub-tracks forming the plurality of nearest tracks must be in a passable state.
7. The cooperative control method of a primary-secondary vehicle and a hoist in an intelligent warehousing system according to claim 6, wherein the process of primarily planning the travel tracks of the primary-secondary vehicles to obtain a primary fastest track by distributing goods to the primary-secondary vehicles on the corresponding floors comprises:
under the condition of cross-floor transportation, the goods are distributed to the primary and secondary vehicles of the floors corresponding to the storage positions, the positions of the elevators are taken as the intersection points of the running tracks of the two floors, the positions of the vehicles of the two primary and secondary vehicles are taken as the starting points, the same intersection points are taken as the end points, a primary fastest track is constructed among the three vehicles, and the primary fastest track is the running track in an ideal state.
8. The cooperative control method of a primary-secondary vehicle and a hoist in an intelligent warehousing system according to claim 7, wherein the process of re-planning the running tracks of the two primary-secondary vehicles to obtain the multiple maximum speed tracks during the running process includes:
planning the running tracks of the two primary and secondary vehicles again respectively to obtain all passable schemes and the passing duration thereof from the vehicle position to the junction point, and further obtaining all passable schemes and the corresponding passing duration of all primary and secondary vehicles in use state in the same floor;
in the same time period, two primary and secondary vehicles with opposite running directions cannot exist on any running secondary track at the same time, the sum of the running time durations of the passable schemes finally adopted by the primary and secondary vehicles is the smallest, the passable schemes finally adopted by the primary and secondary vehicles are marked as a plurality of fastest tracks, and when the number of the primary and secondary vehicles in use state in the same floor is increased or decreased, one-time re-planning is performed.
9. The method for cooperatively controlling a primary and secondary car and a hoist in an intelligent warehousing system according to claim 8, wherein the process of obtaining the target hoist of two primary and secondary cars, establishing communication connection between the three, and adjusting the hoisting speed of the target hoist to achieve the shortest time-consuming interaction of the three comprises:
marking elevators corresponding to the intersection points of two primary and secondary cars as target elevators of the two primary and secondary cars, establishing communication connection among the three elevators, wherein the hoisting speed of the target elevators can be adjusted to obtain a first hoisting duration and a first prompting path of the primary and secondary car at the current floor, and when the remaining path between the primary and secondary car and the target elevators is smaller than the first prompting path, controlling the target elevators to move to the current floor at the lowest hoisting speed for interaction;
and when the remaining distance between the primary and secondary vehicles and the target elevator is smaller than the second prompting distance, and after the target elevator and the primary and secondary vehicles of the current floor are interacted, the target elevator is controlled to move to the corresponding floor for interaction at the highest lifting speed, so that the shortest interaction time of the primary and secondary vehicles is ensured.
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