CN114249054B - Processing method for executing multitasking and four-way shuttle - Google Patents
Processing method for executing multitasking and four-way shuttle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The application provides a processing method for executing multiple tasks and a four-way shuttle vehicle. The four-way shuttle is provided with a task issuing data block, a task caching data block, a task executing data block and a task analyzing area. The task issuing data block receives a task scheduling instruction of the upper computer; the task cache data block caches task information data in the task issuing data block; the task execution data block integrates and de-duplicates the data in the task cache data block to obtain a node task list containing a plurality of action node tasks; the task analysis area disassembles each action node task in the task execution data block, obtains corresponding action execution instructions to correspondingly distribute the corresponding action execution instructions to each execution mechanism in the four-way shuttle according to the execution sequence, and realizes multi-task scheduling on the four-way shuttle. The method and the device can combine and integrate a plurality of task information, avoid waiting and stopping caused by independent issuing of each task, and improve the efficiency of the shuttle to execute functional tasks.
Description
Technical Field
The application relates to the field of intelligent warehouses, in particular to a processing method for executing multitasking and a four-way shuttle vehicle.
Background
The automatic task scheduling of the conventional logistics storage four-way shuttle is realized by mainly disassembling the whole functional task into a plurality of single action execution tasks through upper computer software and respectively and sequentially issuing the disassembled action execution tasks to the four-way shuttle. The shuttle vehicle finishes corresponding action tasks one by one according to the action instruction requirement of each action execution task according to the received instruction sequence, and then the complete function task can be realized.
In order to realize the interactive task execution process, in the existing intelligent warehouse, the state feedback of the shuttle is firstly detected and obtained by the upper computer in real time, and then the next action can be issued to execute the task. Therefore, the existing functional task execution mode has certain requirements on the network environment. When network interruption/delay occurs, the shuttle is caused to start to execute tasks under the waiting of task nodes for a long time. At this time, the four-way shuttle is disconnected in motion and is in a standby state even because it waits for an effective motion to perform a task for a long time. Waiting for receiving the effective action execution task for a long time easily causes the occurrence of defects such as feeding of the four-way shuttle car.
In addition, in the existing mode, task overlapping phenomenon may occur in the task distribution process, so that the four-way shuttle can execute the same task for multiple times, resources are wasted, and efficiency is low.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a processing method for executing multiple tasks and a four-way shuttle, and the application can issue a plurality of tasks of an upper computer to the shuttle at one time, automatically complete task check and sequencing work by the shuttle, and automatically complete the whole group of tasks, thereby improving the efficiency of the shuttle to execute functional tasks, reducing the scheduling time and reducing the occupation of communication resources by the task scheduling process. The application adopts the following technical scheme.
Firstly, in order to achieve the above objective, a processing method for performing multiple tasks is provided for a four-way shuttle, which includes the steps of: receiving a task scheduling instruction of an upper computer, and storing a group of tasks into a task issuing data block according to a receiving sequence; handshake checking with an upper computer, and sequentially caching each task information stored in a task issuing data block to a task cache data block after checking correctly; performing de-duplication integration on each task information in the task cache data block to obtain a node task list, and storing the node task list into a task execution data block; and sequentially extracting and analyzing each action node task in the node task list to a task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle for execution.
Optionally, the method for processing multiple tasks according to any one of the preceding claims, wherein each set of tasks issued to the four-way shuttle by the task scheduling instruction includes a combination of task information generated according to a warehouse-in, warehouse-out, warehouse-moving requirement and a path planning requirement, the task information performing the following actions: the method comprises the steps of main road walking, sub road walking, reversing to a sub road, reversing to the main road, lifting and picking up goods, descending and discharging goods, sub road walking and reversing, main road walking and reversing, sub road walking and picking up goods, sub road walking and discharging goods.
Optionally, the method for performing multiple tasks according to any one of the preceding claims, wherein the set of tasks issued by the task scheduling instruction of the upper computer includes: task group number, task control attribute, task information, and handshake information; the task control attributes include: execution/pause/cancel/scram/reset operations on the task group; the task information is marked with task node attributes corresponding to the execution of the corresponding actions, start and stop point positions corresponding to the execution of the actions and action object positions; the handshake information comprises two communication handshake signals, and after both checks are correct, the task cache data block is triggered to correspondingly cache each task information contained in the task group according to the sequence of the task group to which the handshake information belongs.
Optionally, the method for performing multitasking according to any one of the preceding claims, wherein the step of performing deduplication integration on each task information in the task cache data block to obtain the node task list includes sequentially performing the following operations on each task information in the task cache data block: and judging whether the task node attribute corresponding to the next task information is the same as the current task information, if so, merging and integrating the path start-stop positions and/or the action object positions corresponding to the two task information, repeating the merging and integrating steps until the task node attribute corresponding to the next task information is different from the current task information, and storing the action node task formed by merging and integrating to the tail end position of the node task list.
Optionally, the method for performing multiple tasks according to any one of the preceding claims, wherein the step of sequentially extracting and analyzing each action node task in the node task list to the task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle includes: after extracting an action node task and analyzing the action node task to a task analysis area, the head end of the node task list clears the action node task, marks the number of nodes to be executed to be decreased, and moves a pointer at the head end of the node task list to the next action node task; and repeating the steps until the number of the nodes to be executed is reduced to 0, completing the single-node task extraction work, and waiting for the next node task list.
Meanwhile, to achieve the above object, the present application also provides a four-way shuttle, comprising: the task issuing data block is used for receiving task scheduling instructions of the upper computer, and sequentially receiving and storing task information contained in each group of tasks in the task scheduling instructions; the task cache data block is used for handshake verification with the upper computer, and after verification is correct, the task cache data block is used for sequentially caching task information stored in the task issuing data block; the task execution data block is used for carrying out de-duplication integration on each task information in the task cache data block, obtaining a node task list and sequentially storing each action node task in the node task list; the task analysis area is used for sequentially extracting and analyzing each action node task in the node task list to form an action execution instruction for controlling each execution mechanism of the four-way shuttle; and the executing mechanism is used for executing the action executing instruction.
Optionally, the four-way shuttle according to any one of the preceding claims, wherein each set of tasks stored in the task delivery data block includes: task group number, task control attribute, task information, and handshake information; the task control attributes include: execution/pause/cancel/scram/reset operations on the task group; the task information is marked with task node attributes corresponding to the execution of the corresponding actions, start and stop point positions corresponding to the execution of the actions and action object positions; the handshake information comprises two communication handshake signals, and after both checks are correct, the task cache data block is triggered to correspondingly cache each task information contained in the task group according to the sequence of the task group to which the handshake information belongs.
Optionally, the four-way shuttle of any one of the above claims, wherein the task delivery data block is at least sufficient to accommodate a storage space required to perform a set of warehouse entry, warehouse exit, or warehouse removal tasks.
Optionally, the four-way shuttle according to any one of the preceding claims, wherein task node attributes are different between two adjacent action node tasks in the task execution data block.
Optionally, the four-way shuttle according to any one of the preceding claims, wherein the task execution data block is a queue structure, and the task execution data block stores the action node task formed by combining and integrating a plurality of task information with the same task node attribute to the end position of the node task list queue, and extracts the action node task from the head end position of the node task list queue to the task analysis area in sequence all the time; and after the head end of the node task list queue extracts an action node task, the action node task is cleared, the number of nodes to be executed is marked to be reduced, the head end of the node task list queue is moved back to the next action node task, the steps are repeated until the number of the nodes to be executed is reduced to 0, the single node task extraction work is completed, and the next node task list is waited.
Advantageous effects
The four-way shuttle is provided with a task issuing data block, a task caching data block, a task executing data block and a task analyzing area. The task scheduling instruction of the upper computer is received through a data issuing data block; the task information data in the task issuing data block are subjected to cache sequencing through the task cache data block; integrating and deduplicating data in the task cache data block through the task execution data block to obtain a node task list containing a plurality of action node tasks; task resolution is carried out on each action node task in the task execution data block through the task analysis area, corresponding action execution instructions are obtained, and each action execution instruction is distributed to each logic execution mechanism in the four-way shuttle according to the execution sequence, so that the aim of multi-task scheduling of the four-way shuttle is finally achieved. The method and the system can combine and integrate a plurality of task information, thereby triggering the four-way shuttle to directly and smoothly execute a group of tasks, avoiding waiting and stopping caused by independent issuing of the tasks one by one, effectively avoiding task overlapping, improving the efficiency of the shuttle to execute functional tasks, reducing the scheduling time and reducing the occupation of communication resources in the task scheduling process.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and do not limit the application. In the drawings:
FIG. 1 is a flow chart of steps of a method of performing multitasking in accordance with the present application;
FIG. 2 is a schematic diagram of a task issuing data block in a four-way shuttle of the present application;
FIG. 3 is a schematic diagram of task cache data blocks in a four-way shuttle of the present application;
FIG. 4 is a flow chart of a handshake verification step performed in a task cache data block according to the present application;
FIG. 5 is a schematic diagram of a task execution data block in a four-way shuttle of the present application;
FIG. 6 is a flow chart of the deduplication step performed in the task execution data block of the present application;
FIG. 7 is a schematic diagram of a task parsing zone in a four-way shuttle of the present application;
Fig. 8 is a flowchart illustrating a task execution procedure in the task parsing area according to the present application.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present application fall within the protection scope of the present application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
"Connected" as used herein means either a direct connection between components or an indirect connection between components via other components.
The application provides a four-way shuttle vehicle, which comprises:
four-way travelling wheels, wherein each wheel set is matched with a main road and a sub road in the intelligent stereoscopic warehouse respectively and travels along the main road or the sub road;
the lifting device drives the vehicle body bearing platform to correspondingly lift to extract the goods or correspondingly descend to place the goods;
The communication unit is connected with an upper computer such as a server through a wireless communication mode, receives a task scheduling instruction issued by the upper computer, and can also upload the current position and working state of the four-way shuttle in real time;
And the control unit is connected with the actuating mechanism formed by the four-way travelling wheel and the lifting device and the communication unit. The control unit correspondingly establishes a task issuing data block, a task cache data block, a task execution data block and a task analysis area shown in the figure 1 in a storage unit arranged in the four-way shuttle, so as to receive a task scheduling instruction of the upper computer through the communication unit, and sequentially receive and store task information contained in each group of tasks in the task scheduling instruction through the task issuing data block; checking the task cache data block and the handshake of the upper computer, and sequentially caching task information stored in the task cache data block after checking the correctness; performing de-duplication integration on each task information in the task cache data block through the task execution data block to obtain a node task list and sequentially storing each action node task in the node task list; and finally, sequentially extracting and analyzing each action node task in the node task list through the task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle so as to correspondingly execute each execution mechanism of the four-way shuttle, thereby realizing operations such as warehousing, ex-warehouse, moving warehouse and the like in the stereoscopic warehouse.
The upper computer in the warehouse system is composed of a server, a computer and a field terminal, and correspondingly generates task information for executing the tasks such as bus lane walking, sub lane reversing, bus lane reversing, lifting goods taking, descending goods taking, sub lane walking and reversing, bus lane walking and reversing, sub lane walking and goods taking, and the like according to the warehouse-in, warehouse-out and warehouse-out requirements and path planning requirements, and packages each task information into task scheduling instructions according to the execution Sun Chu and sends the task information to a corresponding realization shuttle.
Referring to fig. 1, a set of tasks issued by an upper computer task scheduling instruction includes: task group number, task control attributes, several task information, and handshake information. The task control attribute is a definition of a task command to be executed for the task group, and includes: executing/suspending/cancelling/scram/resetting the task group;
The task information is marked with task node attributes corresponding to the execution of the corresponding actions, start and stop point positions corresponding to the execution of the actions and action object positions, so that one action task node required to be executed by the four-way shuttle can be completely defined. ;
The handshake information can be set to include two communication handshake signals, which trigger the task cache data block to correspondingly cache each task information contained in the task group according to the sequence of the task group to which the handshake information belongs after both checks are correct.
Therefore, the four-way shuttle vehicle can correspondingly realize operations such as warehouse entry, warehouse exit, warehouse moving and the like in the following mode.
The upper computer generates tasks such as warehouse-out/warehouse-in/warehouse-out according to actual demands, disassembles the tasks into node tasks respectively used for executing operations such as main track walking, sub track walking, reversing to the sub track, reversing to the main track, reversing to the sub track, jacking goods taking, descending goods taking, sub track walking and reversing, main track walking and reversing, sub track walking and goods taking and the like according to path planning demands, and transmits a group of tasks to a shuttle task issuing data block at one time, and correspondingly stores the node tasks in a node task list through buffering and de-reforming of a shuttle processing unit so as to be correspondingly executed by executing mechanisms such as driving wheels, lifting hydraulic and the like on equipment.
And according to the two communication handshake signals, triggering the task cache data block to correspondingly cache the task information in the task issuing data block into the task cache data block according to the sequence of the task group to which the handshake information belongs after the two checks are correct, and storing each task information contained in the task group.
Then, through the task execution data block shown in fig. 5, when detecting that task information which is not executed is still in the task cache data block, executing a deduplication algorithm on each cached task information in a mode shown in fig. 6, integrating task information with the same attribute, and storing each action node task obtained through integration into the task execution data block again according to the execution sequence to form a multi-node task list to be executed. Therefore, because the de-merging work is carried out, and the driving tasks of all the sections on the same walking path are correspondingly integrated, the task node attributes are different between the tasks of two adjacent action nodes in the task execution data block.
Finally, through the task analysis area shown in fig. 7, a plurality of action node tasks in the task execution data block are sequentially analyzed into corresponding action execution instructions according to the node execution sequence, and the action execution instructions are correspondingly stored in the task analysis area. And each executing mechanism in the shuttle vehicle executes corresponding action executing instructions according to the node attribute of the current executing node to finish the operations of warehousing, ex-warehouse and moving the goods. The node attribute comprises the functions of main track walking, sub track walking, reversing to sub track, reversing to main track, reversing to sub track, jacking and taking goods, descending and putting goods, sub track walking and reversing, main track walking and reversing, sub track walking and taking goods, sub track walking and putting goods and the like.
Therefore, the application can combine and integrate a plurality of task information, thereby triggering the four-way shuttle to directly and smoothly execute a group of tasks, effectively avoiding waiting and stopping caused by independent issuing of each task, effectively avoiding task overlapping, improving the efficiency of the shuttle to execute functional tasks, reducing the scheduling time and reducing the occupation of communication resources by the task scheduling process.
In a more specific implementation manner, in the process of executing the task group step, the four-way shuttle of the application can further preferably set the number of node tasks corresponding to each group of tasks which can be received and accommodated in the storage space of the storage unit or the buffer unit corresponding to the task issuing data block to be the number of node tasks which can completely meet the requirement of the upper computer. The capacity is set to be at least sufficient to accommodate the storage space required to perform a set of binning, binning or binning tasks to avoid as much as possible the situation where a wire is waiting for instruction to issue during execution of a set of tasks.
And checking and caching the data in the task cache data block, wherein before all the data of the current task group is not completed, the data in the task cache data block is not changed according to the change of the data in the task issuing data block, and only after all the data of the task group are executed, a new group of task data in the task issuing data block is checked again to execute the task of the next group.
The task execution data block can be set into a queue structure, and each task information in the task cache data block is subjected to de-duplication integration in the following manner to obtain a node task list:
And judging whether the task node attribute corresponding to the next task information is the same as the current task information, if so, merging and integrating the path start-stop positions and/or the action object positions corresponding to the two task information to form action node tasks, repeating the merging and integrating steps until the task node attribute corresponding to the next task information is different from the current task information, storing the action node tasks formed by merging and integrating to the tail end position of a node task list queue at the moment, and sequentially extracting the action node tasks from the head end position of the node task list queue to a task analysis area all the time. Therefore, when the task analysis area sequentially extracts an action node task from the head end of the node task list queue according to the sequence of the node task list in the mode of fig. 8, analyzes the action node task to the task analysis area to form a corresponding action execution instruction capable of controlling the action process of each execution mechanism in the four-way shuttle, after finishing corresponding task operation according to each action execution instruction, correspondingly clearing the action node task, marking the number of nodes to be executed to be reduced, moving the head end of the node task list queue to the next action node task, and repeating the steps until the number of the nodes to be executed is reduced to 0 to finish the single-node task extraction work. At this time, the task list of the next node can be correspondingly set, so that new warehouse-in, warehouse-out and warehouse-moving tasks can be continuously completed compactly and without connection.
In summary, the task issuing data block of the application can receive the task scheduling instruction issued by the upper computer in real time, and obtain one or more groups of tasks consisting of a plurality of node tasks contained in the task scheduling instruction;
the task cache data block can sequentially arrange the task information data of the task issuing data block into a task list according to time sequence, and after the task information data are extracted, each node task issued subsequently is automatically sequentially supplemented;
According to the task deduplication algorithm, the task execution data block integrates task information with the same node attribute to form a new multi-node task list; therefore, when the four-way shuttle needs to run at a normal distance of the bus, the problem that the running process is incoherent due to the fact that the long-distance running is split into a plurality of sections of short-distance running tasks possibly occurring in the process of issuing the running instructions by the upper computer task by task is solved. According to the application, task integration is performed on task execution data blocks, a plurality of node tasks with the same walking task attribute are combined into a complete long-distance action node task for executing walking operation when the head and tail of each node task are connected at the continuous multi-section start and stop positions. Therefore, the situation that long-distance walking is disassembled into multiple sections and repeated starting and stopping wait tasks are issued is avoided;
The task analysis area disassembles the corresponding operation actions required to be executed by the integrated action node tasks to form action execution instructions of the action node tasks to be distributed to the logic execution mechanisms, so that the control unit in the four-way shuttle can correspondingly issue the execution mechanisms in the four-way shuttle one by one to correspondingly execute according to the disassembled action execution instruction sequence. And when the four-way shuttle finishes executing one action execution instruction, marking to finish, clearing the corresponding action node task corresponding to the action execution instruction, and continuing to execute the next action task instruction according to the first-in first-out principle of the action execution instruction. After the task of the action node is completed and the corresponding data is cleared, the four-way shuttle control unit can again extract the data of the next action node task in the cache data block to form a new single-node task and execute the corresponding action execution instruction.
Therefore, the four-way shuttle disclosed by the application can sequentially and uninterruptedly execute the action execution instructions corresponding to each single-node task until all the multi-node task lists stored in the task cache data block are executed. And after the multi-node task list is completely executed, the new task scheduling instruction issued by the upper computer is received again, and the execution of the multi-node task of a new round is restarted correspondingly according to the steps.
The foregoing is a description of embodiments of the application, which are specific and detailed, but are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.
Claims (8)
1. A processing method for performing multiple tasks for a four-way shuttle, comprising the steps of: receiving a task scheduling instruction of an upper computer, and storing a group of tasks into a task issuing data block according to a receiving sequence;
handshake checking with an upper computer, and sequentially caching each task information stored in a task issuing data block to a task cache data block after checking correctly;
Performing de-duplication integration on each task information in the task cache data block to obtain a node task list, and storing the node task list into a task execution data block;
Sequentially extracting and analyzing each action node task in the node task list to a task analysis area to form an action execution instruction for controlling each execution mechanism of the four-way shuttle for execution;
each group of tasks issued to the four-way shuttle through the task scheduling instruction respectively comprises a combination of task information which is generated according to the requirements of warehouse entry, warehouse exit, warehouse moving and path planning and is used for executing the following actions: the method comprises the steps of main road walking, sub road walking, reversing to a sub road, reversing to the main road, jacking to pick up goods, descending to put goods, sub road walking and reversing, main road walking and reversing, sub road walking and picking up goods, sub road walking and putting goods;
Sequentially extracting and analyzing each action node task in the node task list to a task analysis area, and forming an action execution instruction for controlling each execution mechanism of the four-way shuttle comprises the following steps: after extracting an action node task and analyzing the action node task to a task analysis area, the head end of the node task list clears the action node task, marks the number of nodes to be executed to be decreased, and moves a pointer at the head end of the node task list to the next action node task;
and repeating the steps until the number of the nodes to be executed is reduced to 0, completing the single-node task extraction work, and waiting for the next node task list.
2. The method of claim 1, wherein the set of tasks issued by the upper computer task scheduling instruction comprises: task group number, task control attribute, task information, and handshake information;
the task control attributes include: execution/pause/cancel/scram/reset operations on the task group;
The task information is marked with task node attributes corresponding to the execution of the corresponding actions, start and stop point positions corresponding to the execution of the actions and action object positions;
the handshake information comprises two communication handshake signals, and after both checks are correct, the task cache data block is triggered to correspondingly cache each task information contained in the task group according to the sequence of the task group to which the handshake information belongs.
3. The method of claim 2, wherein the step of performing de-duplication integration on each task information in the task cache data block to obtain the node task list includes sequentially performing the following operations on each task information in the task cache data block: and judging whether the task node attribute corresponding to the next task information is the same as the current task information, if so, merging and integrating the path start-stop positions and/or the action object positions corresponding to the two task information, repeating the merging and integrating steps until the task node attribute corresponding to the next task information is different from the current task information, and storing the action node task formed by merging and integrating to the tail end position of the node task list.
4. A four-way shuttle, comprising:
The task issuing data block is used for receiving task scheduling instructions of the upper computer, and sequentially receiving and storing task information contained in each group of tasks in the task scheduling instructions;
the task cache data block is used for handshake verification with the upper computer, and after verification is correct, the task cache data block is used for sequentially caching task information stored in the task issuing data block;
the task execution data block is used for carrying out de-duplication integration on each task information in the task cache data block, obtaining a node task list and sequentially storing each action node task in the node task list;
The task analysis area is used for sequentially extracting and analyzing each action node task in the node task list to form an action execution instruction for controlling each execution mechanism of the four-way shuttle;
the execution mechanism is used for executing the action execution instruction;
Each group of tasks in the task scheduling instruction respectively comprises a combination of task information which is generated according to the requirements of warehouse entry, warehouse exit, warehouse moving and path planning and is used for executing the following actions: the method comprises the steps of main road walking, sub road walking, reversing to a sub road, reversing to the main road, lifting and picking up goods, descending and discharging goods, sub road walking and reversing, main road walking and reversing, sub road walking and picking up goods, sub road walking and discharging goods.
5. The four-way shuttle of claim 4, wherein each set of tasks stored in the task delivery data block comprises: task group number, task control attribute, task information, and handshake information;
the task control attributes include: execution/pause/cancel/scram/reset operations on the task group;
The task information is marked with task node attributes corresponding to the execution of the corresponding actions, start and stop point positions corresponding to the execution of the actions and action object positions;
the handshake information comprises two communication handshake signals, and after both checks are correct, the task cache data block is triggered to correspondingly cache each task information contained in the task group according to the sequence of the task group to which the handshake information belongs.
6. The four-way shuttle of claim 4, wherein the task delivery data block is at least sufficient to accommodate storage space required to perform a set of warehouse-in, warehouse-out, or warehouse-out tasks.
7. The four-way shuttle of claim 5, wherein task node attributes are different between adjacent action node tasks in the task execution data block.
8. The four-way shuttle of claim 4 or 5, wherein the task execution data block is a queue structure, and the task execution data block stores the action node task formed by combining and integrating a plurality of task information with the same task node attribute to the end position of the node task list queue, and extracts the action node task from the head end position of the node task list queue to the task analysis area in sequence all the time;
And after the head end of the node task list queue extracts an action node task, the action node task is cleared, the number of nodes to be executed is marked to be reduced, the head end of the node task list queue is moved back to the next action node task, the steps are repeated until the number of the nodes to be executed is reduced to 0, the single node task extraction work is completed, and the next node task list is waited.
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