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介绍了一种基于实时控制的立体仓库出入库算法。该算法采用改进的先进先出原则、平均负荷原则、最短路线原则、高低箱分离原则和优化出入库次序原则，使出入库管理、通讯管理、堆垛机和滚道的实时控制之间既有明确分工，又能通过计算机网络、数据库和数据交换有机地集成在一起。它把各种复杂的出入库情况统一为一种处理模式，从而大大提高了出入库控制的效率和故障处理的能力，提高了系统的可靠性
This paper introduces a real-time control-based storage algorithm for warehouses. This algorithm adopts the principles of improved first-in-first-out, average load, shortest route, high and low box separation, and the principle of optimizing the order of loading and unloading so that there is an existing relationship between the warehouse management, communication management, and real-time control of the stacker crane and raceway. Clear division of labor can be organically integrated through computer networks, databases, and data exchange. It unifies various complicated inbound and outbound situations into one processing mode, which greatly improves the efficiency of outbound and outbound control and the ability to handle faults, and improves the reliability of the system.