阅读说明：本技术 一种转轨堆垛机路径生成与运动控制方法 (Method for generating path and controlling movement of shunt stacker ) 是由 张磊 孙志坚 高岩 于 2019-11-12 设计创作，主要内容包括：本发明公开了一种转轨堆垛机路径生成与运动控制方法,应用于转轨堆垛机和道岔转轨机构的控制。系统硬件由车载PLC、输送线PLC、行走认址装置、行走驱动装置、换轨驱动装置、换轨到位传感器组成。控制方法包括转轨路径生成方法、路径冲突检测方法、转轨命令生成方法、道岔控制与路径状态检测方法四部分。本发明提出的方法。本发明控制方法基于生成树生成路径,面向路径实现控制,大大简化了程序设计和交互数据,实现了堆垛机与道岔转轨机构的模块化设计。减少了上下位机交互,显著地提高了转轨作业效率。(The invention discloses a method for generating a path of a switch stacker and controlling movement, which is applied to the control of the switch stacker and a turnout switch mechanism. The system hardware is composed of a vehicle-mounted PLC, a conveying line PLC, a walking addressing device, a walking driving device, a rail changing driving device and a rail changing in-place sensor. The control method comprises four parts of a shunting path generation method, a path conflict detection method, a shunting command generation method and a turnout control and path state detection method. The invention provides a method. The control method of the invention generates the path based on the spanning tree, realizes the control facing the path, greatly simplifies the program design and the interactive data, and realizes the modular design of the stacker and the turnout transfer mechanism. The interaction between the upper computer and the lower computer is reduced, and the orbital transfer operation efficiency is obviously improved.)

1. A method for generating and controlling the movement of a path of a shunt stacker is characterized by comprising the following steps:

1) and (3) generating a switch path: generating a path of the stacker for switching;

2) path collision detection: detecting whether the walking paths of a plurality of stackers running simultaneously coincide;

3) generating a switch command: based on path segmentation, controlling the stacker and the turnout to continuously and sequentially execute a segmentation switch command based on command logic and interaction relation;

4) turnout control and path state detection: and controlling the movement of the turnout and feeding back the path state of the sectional shunting command.

2. The method for generating and controlling the path of the shunt stacker according to claim 1, wherein the methods 1) to 3) are executed by a stacker PLC, and the method 4) is executed by a transmission line PLC.

3. The turnaround stacker path generating and motion control method according to claim 1, wherein the turnaround path generating method comprises the steps of:

1) determining an initial node according to the real-time position of the stacker, determining a target node according to the target position, and if the target node exists, further judging;

2) starting from the starting node or the target node, if the included angle between the walking direction of the stacker and the path is greater than a right angle, inserting a transition node into the path;

3) and if the key nodes on the walking path exist, generating the walking path.

4. The method of claim 1, wherein the path collision detection method comprises the following steps:

1) solving the minimum index value and the maximum index value of all the nodes of the walking paths of the pilers; the stacker path node interval is a closed interval formed by a minimum index value node and a maximum index value node;

2) the node section of the walking path of the stacker is respectively and independently compared with the node sections of all other stacker paths, and the node section of the path of the stacker is expressed by [ A ]_min,A_max]Indicates the stacker path node interval to which it is compared [ B ]_min,B_max]Indicating that, if the two paths do not coincide,there are two cases:

a) if Max (A)_min,B_min)＞Min(A_max,B_max) Max represents a large value compared with the Max, Min represents a small value compared with the Min, and the two stacker paths have no overlapping area;

b) if the path is overlapped on the Node, Max (a)_min,B_min)＝Min(A_max,B_max) If the remainder of the Node pair 3 is not 0 and the Node is not the target Node, the path of the local machine passes through a turnout, the stacker in the corresponding roadway of the turnout is static or only moves in the roadway, and the target roadway is not occupied by the stacker;

if the two conditions are not met, the paths conflict;

3) if the paths conflict, the path is not executed, and the vehicle stops at the current node.

5. The method for generating and controlling the path of the shunt stacker according to claim 1, wherein the method for generating the shunt command comprises the following steps:

1) when a subsection shunting command is generated, if the stacker is in a curve shunting area, firstly, the positioning of a current node to be shunted is executed, and after the stacker moves to the to-be-shunted area, a turnout control command is issued; if the stacker is in the roadway, the turnout moves without risk, and at the moment, a positioning command of the node to be turned and a turnout control command are issued at the same time;

2) if the turnout on the sectional shunting command path is in place and normal, the stacker executes the shunting movement, and if the index value of the target node of the sectional shunting command is greater than the index value of the current node, the stacker walks in the advancing direction; otherwise, the stacker walks along the backward direction;

3) and after the stacker enters the target node, restoring and executing the original goods taking and placing command.

6. The method for track-changing stacker path generation and motion control according to claim 1, wherein the method for switch control and path state detection comprises the following steps:

1) judging pilePath node interval of stacker segment transfer command [ A ]_actual,A_goal]Wherein A is_actualRepresenting the current node, A_goalTwo nodes which represent target nodes and are communicated along a straight line of a turnout are respectively B_minAnd B_maxIn which B is_minIndicates the node with smaller index value, B_maxThe node with larger index value in the two nodes is represented, and the value range of the node of the turnout which is communicated along the curve is in (B)_min,B_max)；

2) Packaging turnouts as a class of equipment, detecting segmented shunting commands of all stackers by the turnouts, and if the stackers have the segmented shunting commands, determining a path node interval [ A ] of the segmented shunting commands_actual,A_goal]Comprising [ B_min,B_max]If so, the turnout is directly switched to operate; if the starting and stopping nodes of the sectional shunting command are the same as the roadway nodes communicated with the curve, namely A_actual∈(B_min,B_max) Or A_goal∈(B_min,B_max) (ii) a The turnout is obliquely communicated and the rail is changed; if the stacker has no command or the command path is not related to the turnout, the turnout is not operated;

and traversing the subsection switch commands of all the stackers, if one of the stackers has the turnout operation requirement, executing turnout action, and otherwise, not executing the turnout action.

3) Traversing the subsection shunting commands of all stackers, and for each stacker, detecting whether the turnout state meets the shunting path requirement of the stacker: when the stacker has no command or the command path is not related to the turnout, the turnout state meets the path; when the command is related to the turnout, if the turnout state is normal and the turnout is in place and normal, the turnout state meets the path; otherwise, if the turnout state is abnormal or not in place, the turnout state does not meet the path;

4) traversing and judging each turnout, and if the states of all turnouts meet the path requirement, judging that the sectional switch command path is normal; otherwise, if any turnout state does not meet the path requirement, the sectional switch command path is abnormal.

7. The method for generating and controlling the path of the shunt stacker according to claim 1, wherein the walking section of the stacker is abstracted into nodes; sequentially and continuously distributing node index values to nodes with included angles of obtuse angles, acute angles and 0-degree angles between the walking direction and the path along the walking advancing direction of the stacker; and assigning a virtual index value to the non-existing node.

8. The method according to claim 7, wherein the index value of the straight track section node in the curve shunting area is a multiple of 3; in the roadway section communicated along the walking and backward direction through the turnout or the curve, the node index value of the roadway section has the remainder of 1 for 3; in the roadway section communicated along the walking advancing direction through the turnout or the curve, the remainder of the node index value to 3 is 2.

9. A switch stacker path generation and motion control system, comprising:

the stacker vehicle-mounted PLC is used for planning a shunting path, generating and executing a shunting command according to the actual walking position and the target position of the stacker;

and the conveying line PLC is used for controlling the turnout to operate according to the switch command of the stacker and distributing the path information and the state of all the stackers to the stacker-mounted PLC.

10. The turnaround stacker path generation and motion control system of claim 9,

the stacker vehicle-mounted PLC is used for executing the steps of generating a shunting path, detecting path conflict and generating a shunting command;

and the conveying line PLC is used for executing the steps of turnout control and path state detection.

Technical Field

The invention relates to the field of automatic warehouse logistics equipment, in particular to an electrical control method suitable for generating a switch path of a switch stacker system and linking a stacker and a switch mechanism.

Background

The stacker is the most key component equipment in the automatic stereoscopic warehouse, and the stacker runs in a shuttling mode in a roadway between goods shelves to realize the carrying, warehouse-in and warehouse-out operation of goods, and has the advantages of saving land and manpower, being rapid and accurate in operation and the like.

Pilers have been developed to date, are very mature in function and structure, and can be divided into the following parts according to the form of a track: straight rails, curved rails, turnaround rails, and the like. The maximum advantage of the application of the shunt stacker is that a small number of stackers are arranged in a plurality of roadways, so that the investment of projects can be greatly reduced, and when one stacker breaks down, other stackers can replace and complete the operation without influencing the operation of the whole system.

At present, a rail-transfer stacker and a turnout rail-transfer mechanism have two control modes:

⑴ host computer control mode

The upper computer WCS (warehouse control system) system is responsible for path generation and task control, and the electrical control system is only responsible for execution. When the switch movement is needed, the WCS system needs to divide the operation task into a plurality of movement commands and issue the movement commands step by step, namely the WCS system issues the movement commands to the stacker and the turnout control system respectively, the stacker and the turnout control system feed back the command completion state and the in-place condition to the upper computer, the completion of the previous command is completed, the in-place condition meets the execution condition of the next command, and then the next movement command is issued.

⑵ stacker control mode

The electric control system of the stacking machine is responsible for path generation and task control, firstly, inquiring the state information of the turnout, and if the turnout is not occupied by other stacking machines, sending a switch application to the turnout control system according to the requirement of an operation task; and the turnout control system controls the turnout to act according to the application of the turnout. And when all turnouts on the path are in place, executing the switch movement.

In the first control mode, the stacker completes one-time rail transfer movement, an electrical control system and an upper computer need to interact for multiple times, the interaction data is more, the occupied time is long, and the task execution efficiency is lower;

in the second control mode, the stacker completes one-time rail transfer movement, the stacker electric control system directly controls the actions and the execution steps of the stacker and the turnout, interaction with an upper computer is not needed in the execution process, and the task execution efficiency is high. However, this method has the following disadvantages:

1. the action logics of the turnout and the stacker related to the combination of all possible paths need to be exhausted in the program, the programming is complex, and the program amount is particularly huge under the condition of complex track topology;

2. only the occupation state of the turnout switch mechanism is judged, and the task path conflict cannot be fundamentally detected and avoided;

3. control and state data need to be transmitted between each stacker and each turnout switch mechanism, the communication traffic between the PLCs is large, and the programming is complex.

Disclosure of Invention

In order to overcome the defects of the existing control mode, the invention provides an electrical control method for the generation of a switch path, the detection of path conflict and the linkage of a switch stacker and a turnout switch mechanism.

The technical scheme adopted by the invention for realizing the purpose is as follows: a method for generating and controlling the movement of a path of a shunt stacker comprises the following steps:

1) and (3) generating a switch path: generating a path of the stacker for switching;

2) path collision detection: detecting whether the walking paths of a plurality of stackers running simultaneously coincide;

3) generating a switch command: based on path segmentation, controlling the stacker and the turnout to continuously and sequentially execute a segmentation switch command based on command logic and interaction relation;

4) turnout control and path state detection: and controlling the movement of the turnout and feeding back the path state of the sectional shunting command.

The methods 1) to 3) are executed by the stacker PLC, and the method 4) is executed by the conveyor line PLC.

The method for generating the switch path comprises the following steps:

1) determining an initial node according to the real-time position of the stacker, determining a target node according to the target position, and if the target node exists, further judging;

2) starting from the starting node or the target node, if the included angle between the walking direction of the stacker and the path is greater than a right angle, inserting a transition node into the path;

3) and if the key nodes on the walking path exist, generating the walking path.

The path conflict detection method comprises the following steps:

1) solving the minimum index value and the maximum index value of all the nodes of the walking paths of the pilers; the stacker path node interval is a closed interval formed by a minimum index value node and a maximum index value node;

2) the node section of the walking path of the stacker is respectively and independently compared with the node sections of all other stacker paths, and the node section of the path of the stacker is expressed by [ A ]_min，A_max]Indicates the stacker path node interval to which it is compared [ B ]_min，B_max]It shows that if the two paths do not coincide, there are two cases:

a) if Max (A)_min，B_min)＞Min(A_max，B_max) Max represents a large value compared with the Max, Min represents a small value compared with the Min, and the two stacker paths have no overlapping area;

b) if the path is overlapped on the Node, Max (a)_min，B_min)＝Min(A_max，B_max) If the remainder of the Node pair 3 is not 0 and the Node is not the target Node, the path of the local machine passes through a turnout, the stacker in the corresponding roadway of the turnout is static or only moves in the roadway, and the target roadway is not occupied by the stacker;

if the two conditions are not met, the paths conflict;

3) if the paths conflict, the path is not executed, and the vehicle stops at the current node.

The method for generating the switch command comprises the following steps:

1) when a subsection shunting command is generated, if the stacker is in a curve shunting area, firstly, the positioning of a current node to be shunted is executed, and after the stacker moves to the to-be-shunted area, a turnout control command is issued; if the stacker is in the roadway, the turnout moves without risk, and at the moment, a positioning command of the node to be turned and a turnout control command are issued at the same time;

2) if the turnout on the sectional shunting command path is in place and normal, the stacker executes the shunting movement, and if the index value of the target node of the sectional shunting command is greater than the index value of the current node, the stacker walks in the advancing direction; otherwise, the stacker walks along the backward direction;

3) and after the stacker enters the target node, restoring and executing the original goods taking and placing command.

The turnout control and path state detection method comprises the following steps:

1) judging path node interval [ A ] of stacker segmentation switch command_actual，A_goal]Wherein A is_actualRepresenting the current node, A_goalTwo nodes which represent target nodes and are communicated along a straight line of a turnout are respectively B_minAnd B_maxIn which B is_minIndicates the node with smaller index value, B_maxThe node with larger index value in the two nodes is represented, and the value range of the node of the turnout which is communicated along the curve is in (B)_min，B_max)；

2) Packaging turnouts as a class of equipment, detecting segmented shunting commands of all stackers by the turnouts, and if the stackers have the segmented shunting commands, determining a path node interval [ A ] of the segmented shunting commands_actual，A_goal]Comprising [ B_min，B_max]If so, the turnout is directly switched to operate; if the starting and stopping nodes of the sectional shunting command are the same as the roadway nodes communicated with the curve, namely A_actual∈(B_min，B_max) Or A_goal∈(B_min，B_max) (ii) a The turnout is obliquely communicated and the rail is changed; if the stacker has no command or the command path is not related to the turnout, the turnout is not operated;

and traversing the subsection switch commands of all the stackers, if one of the stackers has the turnout operation requirement, executing turnout action, and otherwise, not executing the turnout action.

3) Traversing the subsection shunting commands of all stackers, and for each stacker, detecting whether the turnout state meets the shunting path requirement of the stacker: when the stacker has no command or the command path is not related to the turnout, the turnout state meets the path; when the command is related to the turnout, if the turnout state is normal and the turnout is in place and normal, the turnout state meets the path; otherwise, if the turnout state is abnormal or not in place, the turnout state does not meet the path;

4) traversing and judging each turnout, and if the states of all turnouts meet the path requirement, judging that the sectional switch command path is normal; otherwise, if any turnout state does not meet the path requirement, the sectional switch command path is abnormal.

Abstracting a walking section of the stacker into nodes; sequentially and continuously distributing node index values to nodes with included angles of obtuse angles, acute angles and 0-degree angles between the walking direction and the path along the walking advancing direction of the stacker; and assigning a virtual index value to the non-existing node.

The index value of the straight rail section node in the curve transition area is a multiple of 3; in the roadway section communicated along the walking and backward direction through the turnout or the curve, the node index value of the roadway section has the remainder of 1 for 3; in the roadway section communicated along the walking advancing direction through the turnout or the curve, the remainder of the node index value to 3 is 2.

A switch stacker path generation and motion control system comprising:

the stacker vehicle-mounted PLC is used for planning a shunting path, generating and executing a shunting command according to the actual walking position and the target position of the stacker;

and the conveying line PLC is used for controlling the turnout to operate according to the switch command of the stacker and distributing the path information and the state of all the stackers to the stacker-mounted PLC.

The stacker vehicle-mounted PLC is used for executing the steps of generating a shunting path, detecting path conflict and generating a shunting command;

and the conveying line PLC is used for executing the steps of turnout control and path state detection.

The invention has the following beneficial effects and advantages:

1. the technical scheme provided by the invention is based on a spanning tree structure, does not need complex programming, and can generate a path between any nodes and a subsection switching command according to a switching task by simply configuring node data;

2. the upper computer can issue the switch tasks to a plurality of stackers at the same time without considering the time conflict of the task paths. The path conflict state of the stacker is detected in real time based on an electrical control system, the tasks of blocking the path conflict are executed at the same time, and after the path conflict is relieved, the blocked tasks can be recovered to be executed without interaction with an upper computer, so that the execution efficiency is high;

3. and the stacker generates a segmented track transfer command based on the real-time walking position of the stacker, and the power failure is kept. After the abnormal power failure and electrification, if the stacker is in the rail transfer area of the curve, the turnout rail transfer mechanism does not operate before the positioning of the current subsection rail transfer command is completed. The safety of the transition is ensured to the maximum extent;

4. the switch transfer mechanism is directly controlled by a subsection transfer command sent by the stacker. And feeding back the available state of the path to the stacker by traversing the states of all turnout switch mechanisms on the path in real time. The communication data quantity between the PLCs is small, and the control is efficient and reliable;

5. the program of the stacker and the turnout transfer mechanism is based on modular design, high cohesion and low coupling.

Drawings

FIG. 1 is a system hardware diagram;

FIG. 2 is a layout diagram of a turnaround stacker system;

FIG. 3 is a switch path connectivity diagram;

FIG. 4 is a block diagram of the program logic for a method of generating a switch path;

FIG. 5 is a block diagram of the program logic for a path collision detection method;

FIG. 6 is a block diagram of the program logic for a shunt command generation method;

fig. 7 is a logic diagram of the program of the switch control and path state detection method.

Detailed Description

The invention provides an electric control method for generating a switch path, detecting path conflict and linking a stacker and a turnout, which comprises the following four parts:

⑴ a method of generating a shunt path;

⑵ path collision detection method;

⑶ shunting command generation method;

⑷ Turnout control and Path State detection method;

methods ⑴ - ⑶ are performed by the stacker PLC and method ⑷ is performed by the delivery line PLC.

The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 shows a system hardware diagram of the present invention. The system consists of two parts of stacker equipment and turnout transfer equipment. The hardware of the stacker equipment comprises a vehicle-mounted PLC, a walking addressing device and a walking driving device; the turnout transfer equipment hardware comprises a rail changing driving device, an in-place sensor and a conveying line PLC.

The vehicle-mounted PLC is used for planning a shunting path, generating and executing a shunting command according to the real-time walking position and the target walking position of the stacker;

the walking addressing device is absolute addressing, can adopt a form of a bar code positioning system, a laser positioning system and the like, and is used for feeding back the actual walking position of the stacker;

the walking driving device comprises a frequency converter and a motor and is used for executing a track transfer command;

the rail-changing driving device comprises a frequency converter and a motor and is used for switching the stacker track;

the rail-changing in-place sensor is used for feeding back the actual position of the stacker rail;

and the conveying line PLC is used for controlling the operation of the turnout shunting equipment according to the stacker shunting command and feeding back the path and the available state of the path of the stacker.

Generally, in order to maximally utilize space, the turnout shunting mechanism is centrally installed in a curve shunting area at one side of a stereoscopic warehouse, and a row of goods shelves can be arranged outside the shunting area. Fig. 2 shows a typical layout of a four-lane shunt stacker system, where a1, a2, A3 and a4 are lane sections, C1, C2 and C3 are straight rail sections in a curved-lane shunt area, and B1 and B2 are turnout devices.

Intuitively, there are 3 and only 3 communication modes between track sections:

⑴ the roadway section is communicated with the straight rail section of the curve transition area through a turnout or a curve along the walking and backing direction, such as the communication of A1 and C1;

⑵ the roadway section is communicated with the straight rail section of the curve transition area through a turnout or a curve along the walking advancing direction, such as the communication of A2 and C1;

⑶ the straight sections in the transition area of the curve are communicated in a straight line through turnouts, such as C1 and C2.

The intervals are abstracted into nodes, and the transition path topology can be converted into a graph form.

As shown in fig. 3, node index values are continuously allocated to nodes with included angles of obtuse angle, acute angle and 0 degree angle to the path in sequence from 1 along the forward direction of the stacker; allocating a virtual index value to the nonexistent nodes, such as node 2, node 4, node 7 and node 10 in the graph; the index value of the straight track section node in the curve transition area is a multiple of 3, such as node 3, node 6 and node 9 in the graph; in a roadway section communicated along the backward and forward directions of walking through a turnout (or a curve), the node index value of the roadway section is 1 for the remainder of 3, such as the node 1 in the figure; in the roadway section communicated along the walking advancing direction through the turnout (or the curve), the remainder of the node index value of the roadway section to 3 is 2, such as a node 5, a node 8 and a node 11 in the graph.

As shown in fig. 3, the node connectivity graph is a spanning tree structure, that is, there is only one path connectivity between every two nodes in the graph, and moving from the starting node to the target node requires that no more than 3 walking commands are issued in segments, the number of the key nodes (the nodes requiring segment parking of the stacker, including the starting node and the stopping node and the transition node) of the passed path is no more than 4, for example, moving from the starting node 5 to the target node 7, moving to the transition node 3 first, then moving to the transition node 9, and finally moving to the target node 7, there are 3 walking commands in total, 4 key nodes: node 5, node 7, node 3, and node 9. And each section of walking command needs linkage control of turnouts and real-time detection of path states so as to ensure the safety of the movement of the switch.

Fig. 4 shows a logic block diagram of a program of a method for generating a switch path, the method includes the following steps:

⑴ determining the initial node according to the real-time position of the stacker, when the upper computer or the local computer sends the order of picking and placing goods, determining the target node according to the target position, if the target node exists, further judging;

⑵ starting from the initial node or the target node, if the angle between the walking direction of the stacker and the path is larger than the right angle (the angle is an obtuse angle), inserting a transition node in the path;

(3) and if the key nodes on the walking path exist, generating the walking path.

The program logic diagram of the path conflict detection method is shown in FIG. 5, the method realizes that the commands of the path conflict are not executed simultaneously by interlocking by checking whether the walking paths of a plurality of stackers running simultaneously coincide, thereby avoiding the deadlock and collision risk of the paths of the stackers; the uniqueness of the action of the turnout is ensured by making the path where the turnout is positioned unique.

The path conflict detection method comprises the following steps:

(1) solving the minimum index value and the maximum index value of all path nodes of the stacker, wherein the node index values are distributed along the walking forward direction of the stacker in a one-way manner, so that the path node interval of the stacker is a closed interval formed by the minimum index value nodes and the maximum index value nodes;

(2) comparing the path node section of the stacker with all other path node sections of the stacker in pairs, wherein the path node section of the stacker is expressed by [ A ]_min，A_max]Indicates the stacker path node interval to which it is compared [ B ]_min，B_max]It shows that if the two paths do not coincide, there are two cases:

① two stacker paths have no overlapping area

The judgment basis is as follows: max (A)_min，B_min)＞Min(A_max，B_max) Max represents the large value compared with Max, Min represents the small value compared with Min;

② the path of the machine passes through the turnout, the stacker in the roadway corresponding to the turnout is static or only moves in the roadway, the target roadway has no stacker to occupy

The judgment basis is as follows: path overlapping Node Max (a)_min，B_min)＝Min(A_max，Bm_ax) Node is not a target Node and its index value is not a multiple of 3.

If the two situations are not met, the paths conflict.

(3) If the paths conflict, the path is not executed, and the vehicle stops at the current node.

The method for generating the shunting command is based on path segmentation, controls the stacker and the turnout and sequentially and continuously executes walking commands among a plurality of key nodes, namely the segmented shunting command, based on command logic and interaction relation. The logic block diagram of the program is shown in fig. 6, and comprises the following steps:

(1) when the sectional track transfer command is generated, if the stacker is in the track transfer area of the curve, the positioning of the current node to be transferred is executed firstly, and after the stacker moves to the to-be-transferred, a turnout control command is issued, so that the track transfer safety is ensured. If the stacker is in the roadway, the turnout moves without risk, and the node to-be-switched positioning command and the turnout control command are simultaneously issued, so that the rail switching efficiency is improved.

(2) And if the turnout on the sectional shunting command path is in normal position, the stacker executes the shunting movement. If the index value of the target node of the segmentation and diversion command is larger than the index value of the current node, the stacker walks in the advancing direction; and conversely, the stacker walks in the backward direction.

(3) And after the stacker enters the target node, restoring and executing the original goods taking and placing command.

The switch control and path state detection method is used for controlling the switch movement and feeding back the path state of the sectional switch command, and the program logic block diagram of the method is shown in fig. 7, and comprises the following steps:

(1) judging path node interval [ A ] of stacker segmentation switch command_actual，A_goal]Wherein A is_actualRepresenting the current node, A_goalRepresenting the target node. Two nodes of the turnout which are communicated along a straight line are respectively B_minAnd B_maxIn which B is_minIndicating nodes with smaller index values, B_maxIndicating nodes with larger index values. The value range of the connected node of the turnout along the curve is (B)_min，B_max)。

(2) And packaging the turnout as a type of equipment, wherein the turnout needs to detect the sectional rail transfer commands of all stackers. If the stacker has a sectional shunting command, and the path node section of the sectional shunting command is [ A ]_actual，A_goal]Comprising [ B_min，B_max]If so, the turnout is directly switched to operate; if the starting and stopping nodes of the sectional shunting command are the same as the roadway nodes communicated with the curve, namely A_actual∈(B_min，B_max) Or A_goal∈(B_min，B_max) (ii) a The turnout is obliquely communicated and the rail is changed; if the stacker has no commands or the command path segment does not contain switches, then the switches are not running.

And traversing the subsection track switching commands of all the stackers, if one of the stackers has a track switching requirement of the turnout, executing track switching action, and otherwise, keeping the turnout in the original state.

(3) And traversing the segmentation shunting commands of all the stackers, and detecting whether the turnout state meets the path requirement of the segmentation shunting command of the stacker for each stacker.

If the turnout is located outside the stacker command path section, the turnout state satisfies the path.

When the turnout is positioned in the stacker command path interval, if the turnout is normal and correct in place, the turnout state meets the path; otherwise, if the switch is abnormal or not in place, the switch state does not satisfy the path.

⑷, traversing and judging each turnout, if all turnout states meet the path requirement, the sectional shunting command path is normal, otherwise, if any turnout state does not meet the path requirement, the sectional shunting command path is abnormal.

The present invention has been described in detail with reference to the following examples of the method for generating a switch track path, detecting a path conflict, and electrically controlling a stacker and a switch linkage. Variations or extensions on the present invention may be made by those skilled in the art and are also within the scope of the present invention.