CN109205163B - Across tunnel Multilayer shuttle car warehousing system design method, system and storage medium - Google Patents
Across tunnel Multilayer shuttle car warehousing system design method, system and storage medium Download PDFInfo
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- CN109205163B CN109205163B CN201810914294.7A CN201810914294A CN109205163B CN 109205163 B CN109205163 B CN 109205163B CN 201810914294 A CN201810914294 A CN 201810914294A CN 109205163 B CN109205163 B CN 109205163B
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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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses across tunnel Multilayer shuttle car warehousing system design method, system and storage mediums, comprising: collects customer requirement information；The customer requirement information, comprising: memory capacity, the sorting efficiency of customer requirement, the order sorting timeliness of the construction area that client provides and customer requirement of customer requirement；Based on equipment unit price and number of devices, the system cost objective function of across tunnel Multilayer shuttle car warehousing system is set；The principle that timeliness is smaller than the order sorting timeliness of customer requirement is sorted greater than the order of memory capacity and system that sorting efficiency, the memory capacity of system of customer requirement are greater than customer requirement based on system maximum sorting efficiency, establishes bound for objective function；Not only it is being able to satisfy target function value minimum, but also is being able to satisfy under conditions of constraint condition, number of lanes corresponding to heuritic approach output objective function optimal solution, the shelf number of plies, the quantity of storage columns, elevator and sorting table are used.
Description
Technical field
The present invention relates to across tunnel Multilayer shuttle car warehousing system design method, system and storage mediums.
Background technique
In recent years, with the fast development of electric business industry and constantly bringing forth new ideas for automatic technology, " goods to people " (Part-
To-Picker) order radio frequency replaces traditional " people's arrival " (Picker-To-Part) to sort mode by electric business enterprise
Extensive favor." goods to people " order radio frequency mainly includes following several: being automatically stored and picking system (Automated
Storage and Retrieval System, AS/RS), automatic vehicle storage and picking system (Autonomous Vehicle
Storage and Retrieval System, AVS/RS) and order sorting system (Robotic based on mobile robot
Mobile fulfillment systems, RMFS).AS/RS is to complete system by being specific to the piler concurrent working in each tunnel
The storage picking task of system.AVS/RS is automatic vehicle along rail running, and elevator is cooperated to complete storage of the cross-layer across tunnel
Picking task.RMFS is to replace sorting personnel by more automatic guided vehicles (Automated guided vehicle, AGV),
Order taking responsibility is received from sorting table by wireless network, concurrent job completes storage sorting task.
Across tunnel Multilayer shuttle car warehousing system (Cross-aisles Multi-shuttle Warehouse System,
CAMSWS) using shuttle as carrier, cooperation elevator executes task and one kind of AVS/RS.It is big with its memory capacity, land occupation
The advantages that area is small, and sorting efficiency is high, fast response time, the extensive concern by electric business enterprise.CAMSWS is by the more lanes of multilayer
Road stereo storage rack, tunnel shuttle reprint shuttle, are put in storage elevator, sorting table, buffer area and conveyer belt composition out.Respectively
Cooperate concurrent working between a equipment, shortens order and sorts the time, improves sorting efficiency.Reprinting shuttle can incite somebody to action
The cargo transport in different tunnels allows across the tunnel sorting of the system to order (Pick-To-Order) to same sorting table,
Shorten order and sorts the time.
Both at home and abroad for the research of warehousing system mostly using AVS/RS as goal in research, the main overall performance including system with
And the migration efficiency of system.Malmborg etc. establishes AVS/RS Optimized model, by setting system configuration parameter come optimization system
Performance.Fukunari etc. using closed queuing network modeling method, analysis AVS/RS single command cycle (only sort task or
Store tasks) and double instruction cycle (existing sorting task has store tasks again) under system sorting efficiency.Ekren etc. passes through half
Open queuing network model analysis AVS/RS, and solved using geometric matrix method, carry out assessment of system performance, and demonstrate this
The validity of method.Marchet etc. improves the design framework of AVS/RS by the evaluation to system performance, and is carried out with Arena
Emulation experiment.Zou etc. compares in AVS/RS equipment in parallel operation reserve by establishing fork-join queueing network
With the performance of system under sequence operation reserve.Cai etc. establishes semi-loop queuing network, analyzes the utilization of AVS/RS system
The performances such as rate, delivery efficiency.There are also the migration efficiency that system is absorbed in part research, Wang etc. establishes the task schedule mould of MSWS
Type, analyzes the operation timing model of parallel picking, serial outbound, is solved with Revised genetic algorithum to model.Wu Ying
Grain husk etc. proposes Order Sorting Optimized model, is ranked up optimization to order by improved K-Means clustering algorithm, improves
The sorting efficiency of system.Roy etc. takes into account obstruction factor to systematicness by semi-loop Analysis on queueing network AVS/RS system
The influence of energy.Wang Yanyan etc. proposes a kind of system optimization method that system suitability selection can be carried out according to different order types,
Two classes " goods to people " system has been carried out to the applicability analysis of different order types.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention provides across tunnel Multilayer shuttle car warehousing system design method,
System and storage medium；
As the first aspect of the present invention, across tunnel Multilayer shuttle car warehousing system design method is provided；
Across tunnel Multilayer shuttle car warehousing system design method, comprising:
Collect customer requirement information；The customer requirement information, comprising: the memory capacity of customer requirement, customer requirement
The order of sorting efficiency, the construction area that client provides and customer requirement sorts timeliness；
Based on equipment unit price and number of devices, the system cost target letter of across tunnel Multilayer shuttle car warehousing system is set
Number；
It is greater than the sorting efficiency of customer requirement based on system maximum sorting efficiency, the memory capacity of system is greater than customer requirement
Memory capacity and system order sort timeliness be smaller than customer requirement order sort timeliness principle, establish objective function
Constraint condition；
Not only it is being able to satisfy target function value minimum, but also is being able to satisfy under conditions of constraint condition, using heuritic approach to lane
Road quantity, the shelf number of plies, storage columns, elevator quantity and sorting table quantity optimize, output objective function optimal solution institute
Corresponding number of lanes, the shelf number of plies, the quantity of storage columns, elevator and sorting table.
Further, the sorting efficiency of the customer requirement refers to entirely across tunnel Multilayer shuttle car warehousing system one day
The quantity of interior sorting commodity；
Further, the order of the customer requirement sorts timeliness, refers to that an order is executed from order is initiated request to
Finish the required time；
Further, the system cost objective function of across tunnel Multilayer shuttle car warehousing system and the tool of constraint condition are set
Body formula are as follows:
Min CM=(CR × A+CT) × T+CL × Np+CS×(2×T×C×A) (12)
s.t.THmax≥THr (13)
2×T×C×A≥nr (14)
to≤to,r (15)
Wherein, THrIndicate the sorting efficiency of customer requirement；nrIndicate the memory capacity of customer requirement；to,rIndicate that client wants
The order asked sorts timeliness；CM indicates system cost, and CR indicates that the unit price of tunnel vehicle, A indicate the quantity in racks store tunnel, CT
Indicate the unit price of reprinting vehicle；The storage number of plies of T expression shelf；The unit price of CL expression elevator；NpThe quantity of sorting table；CS is indicated
The price of single storage location；C indicates the quantity of every row's racks store column；THmaxThe maximum sorting efficiency of expression system；toSystem
The order of system sorts timeliness.
Further, the order of system sorts the calculation formula of timeliness are as follows:
to=t1+t2+t3+t4+t5+t6+t7+t8+t9+t10+t11+t12+t13+t14+t15+t16+t17+t18 (2)
Wherein, t1Indicate that order waits tunnel vehicle to service the used time；t2Indicate that tunnel vehicle is used from current location to purpose goods yard
When；t3It indicates that tunnel vehicle is hugged and takes the turnover box used time；t4Indicate that tunnel vehicle is used from goods yard transporting box to the first outbound buffer area
When；t5Indicate that tunnel vehicle unloads turnover box used time, t5=3；t6It indicates that turnover box waits and reprints the vehicle service used time；t7It indicates to reprint vehicle
From current location to the purpose tunnel used time；t8It indicates that reprinting vehicle is hugged from the first outbound buffer area and takes the turnover box used time；t9It indicates to reprint
Vehicle transporting box used time at corresponding elevator；t10It indicates to reprint vehicle unloading turnover box to the second outbound buffer area used time；
t10=8；t11Indicate that turnover box waits outbound elevator to service the used time；t12Indicate that outbound elevator is run from the bottom to purpose
The layer used time；t13It indicates that outbound elevator is hugged from the second outbound buffer area and takes the turnover box used time；t14Indicate outbound elevator traffic week
Used time of the turnning box to the bottom；t15Indicate that outbound elevator unloads the turnover box used time；t15=13；t16Indicate that the first conveyer transports
The turnover box used time；t17Indicate that turnover box waits sorting table to service the used time；t18It indicates to sort and obtains the used time.
Further, the calculation formula of the maximum sorting efficiency of the system are as follows:
THmax=min (THr,max,THt,max,THl,max,THp,max) (11)
Wherein,
THp,max=μp×Np (10)
Wherein, THmaxThe maximum sorting efficiency of expression system；THr,maxIndicate the maximum output efficiency of tunnel vehicle；
THt,maxIndicate the maximum output efficiency of reprinting vehicle；THl,maxIt indicates outbound or is put in storage the maximum output effect of elevator
Rate；
THp,maxIndicate the maximum output efficiency of sorting table；μpIndicate the sorting amount of each sorting table unit time, NpIt indicates
Outbound or the quantity for being put in storage elevator；
Further, it is not only being able to satisfy target function value minimum, but also be able to satisfy under conditions of constraint condition, use is heuristic
Algorithm optimizes number of lanes, the shelf number of plies, storage columns, elevator quantity and sorting table quantity, output objective function
Number of lanes corresponding to optimal solution, the shelf number of plies, the specific steps of the quantity of storage columns, elevator and sorting table are as follows:
Step (1): the initial configuration information of across tunnel Multilayer shuttle car warehousing system, institute are calculated according to customer requirement information
State initial configuration information, comprising: the shelf number of plies of initial configuration, initial configuration storage columns and initial configuration tunnel number
Amount；
Step (2): the quantity of sorting table is calculated；
Step (3): computing system maximum sorting efficiency；
Step (4): judge whether system maximum sorting efficiency is greater than the sorting efficiency of customer requirement；If it is, calculating
System cost and practical order sort timeliness, meanwhile, number of lanes corresponding to output objective function optimal solution, shelf layer
The quantity of number, storage columns, elevator and sorting table；If it is not, then entering step (5)；
Step (5): whether the maximum output efficiency for judging tunnel vehicle is maximum sorting efficiency, described maximum sorting efficiency etc.
In the minimum value of tunnel vehicle, reprinting vehicle, elevator and the corresponding maximum output efficiency of sorting table；If it is, entering step
Suddenly (6)；If it is not, then entering step (8)；
Step (6): judging whether the shelf number of plies reaches maximum value, if it is, entering step (7)；If not just by goods
Rack-layer number adds one, return step (3)；
Step (7): judging whether tunnel number reaches maximum, if it is, the step of collecting customer requirement information is returned, weight
The new information for collecting client's customer requirement adjusted；If it is not, then increasing number of lanes, return step (3)；
Step (8): judge to reprint whether the maximum output efficiency of vehicle is maximum sorting efficiency, if it is by the shelf number of plies
Add one, return step (3)；If it is not, then increasing the quantity of elevator, return step (2).
Further, the shelf number of plies T of initial configurationminCalculation formula are as follows:
NrIndicate the memory capacity of customer requirement；
Wherein, the shelf number of plies T of initial configurationminIt is defined as T0；
Further, the number of lanes A of initial configuration0Calculation formula are as follows:
Further, the storage columns C of initial configuration0Calculation formula are as follows:
Further, step (2): the quantity N of sorting table is calculatedpSpecific steps are as follows:
In formula: THrIndicate the sorting efficiency of customer requirement.
Further, shelf number of plies maximum of T in the step (6)maxCalculation formula are as follows:
Further, across the tunnel Multilayer shuttle car warehousing system, comprising:
Several storing goods shelfs, each storing goods shelf include several accumulation layers, and each layer of accumulation layer includes that several are deposited
Chu Ge, each storage lattice are for placing turnover box；
Every two storing goods shelf is closely adjacent to each other setting, is equipped with and deposits between storing goods shelf and the storing goods shelf of non-close setting
Tunnel is stored up, each accumulation layer has corresponding storage tunnel；Tunnel vehicle guide rail, each tunnel vehicle are equipped on each storage tunnel
Moveable tunnel vehicle is equipped on guide rail；
The first storage buffer area is respectively equipped in the endpoint of two storing goods shelfs of the setting that is closely adjacent to each other and the first outbound is slow
Deposit area；
The direction vertical with tunnel, which is equipped with, reprints vehicle guide rail, reprints side and the first storage buffer area and the of vehicle guide rail
The connection of one outbound buffer area, the other side for reprinting vehicle guide rail are connect with the second storage buffer area and the second outbound buffer area；Turn
Carrier vehicle guide rail is equipped with moveable reprinting vehicle；
Second storage buffer area is connect with storage elevator；Second outbound buffer area is connect with outbound elevator；
Storage elevator is connect with the first conveyer, and outbound elevator is connect with second conveyor；
First conveyer and second conveyor are connect with sorting table；
The reprinting vehicle is separately positioned in each accumulation layer；
Transport of the tunnel vehicle for realizing cargo in tunnel；The reprinting vehicle is for realizing cargo between tunnel
Transport；
It is described to be put in storage elevator or outbound elevator for realizing cargo in the transport for storing interlayer；
The outbound elevator is responsible for cargo transport to first layer, then is transported to sorting table by the first conveyer；
The storage elevator, which is responsible for will acquire, to be transported to target zone, then is transported to purpose tunnel by reprinting vehicle, then lead to
It crosses tunnel vehicle and is transported to purpose storage location.
The tunnel vehicle, reprint vehicle, storage elevator, outbound elevator, the first conveyer and second conveyor with meter
The connection of calculation machine.
Further, the course of work of across the tunnel Multilayer shuttle car warehousing system, comprising:
Step (a1): receiving sorting task, issues tunnel vehicle using request, judges whether tunnel vehicle can be used, if lane
Road vehicle is unavailable, then waits, until tunnel vehicle is available；If it is available, then control tunnel vehicle is moved to picking position, tunnel is controlled
Vehicle, which is hugged, takes turnover box；It controls tunnel vehicle and transports turnover box to outbound buffer area；
Step (a2): judging whether banked cache area has vacant position, if tunnel vehicle waits vacancy without vacancy；If
It has vacant position, tunnel vehicle unloads turnover box；Tunnel vehicle waits next work order；
Step (a3): it issues to vehicle is reprinted using request；Judge to reprint whether vehicle can be used, if it is not then waiting；Such as
Fruit is available, then reprints vehicle from current stop position and be moved to destination locations, reprinting vehicle, which is hugged, takes turnover box；
Step (a4): reprinting vehicle transport turnover box to corresponding outbound buffer area judges whether banked cache area has vacant position,
If not then it waits；Just turnover box is placed on corresponding outbound buffer area if so, reprinting vehicle；It is next to reprint vehicle waiting
Work order；
Step (a5): issuing outbound elevator and use request instruction, judge whether outbound elevator can be used, if not,
Then turnover box waits outbound elevator；If it is, outbound elevator is moved to turnover box position from current location, outbound is promoted
Machine, which is hugged, takes turnover box, and outbound elevator transports turnover box to first layer, and elevator unloads turnover box, the first conveyer or second defeated
It send machine transporting box to sorting table, terminates.
As a second aspect of the invention, the Multilayer shuttle car warehousing system design department based on heuritic approach is provided
System；
Multilayer shuttle car warehousing system designing system based on heuritic approach, comprising: memory, processor and storage
The computer instruction run on a memory and on a processor when the computer instruction is run by processor, is completed above-mentioned
Step described in either method.
As the third aspect of the present invention, a kind of computer readable storage medium is provided；
A kind of computer readable storage medium, is stored thereon with computer instruction, and the computer instruction is transported by processor
When row, step described in any of the above-described method is completed.
Compared with prior art, the beneficial effects of the present invention are:
The present invention comprehensively considers demand and across tunnel Multilayer shuttle car warehousing system CAMSWS of the client to sorting system
Itself the characteristics of, proposes heuritic approach by the configuration optimization model of analysis system, solves the system optimal for making cost minimization
It configures (i.e. the quantity of the layer of storing goods shelf, row, column and sorting table, elevator).The invention also provides to across tunnel multilayer
Shuttle warehousing system CAMSWS system cost, the appraisal procedure for sorting the main performances such as efficiency, order sorting time, summary are returned
System configuration is received out to the affecting laws of system performance.
Across tunnel Multilayer shuttle car warehousing system integrates storage and sorting function, makes full use of warehouse solid space real
The high density of stock object stores, and sorts mode using " goods to people " order, is enable to respond quickly order, shortens sorting timeliness.Across
The Performance Evaluation of tunnel Multilayer shuttle car warehousing system includes: memory capacity, sorts efficiency (i.e. sorting system order hourly
Sorting amount), sort time (i.e. sorting system sorts the time used in an order).Divided by sorting flow of task to system
Analysis proposes to single task period sorting efficiency and sorts effective appraisal procedure of time, proposes on this basis more across tunnel
Layer shuttle warehousing system comprehensive design frame proposes heuritic approach, solving system by analysis system configuration optimization model
Allocation optimum keeps its cost under the premise of meeting system performance requirements minimum, the accurate solving system facility of the design framework
Allocation optimum, mitigate planning and designing personnel working strength.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is CAMSWS top view；
Fig. 2 is sorting mission flow diagram；
Fig. 3 is CAMSWS design framework；
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present invention uses have logical with the application person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
1 across tunnel Multilayer shuttle car warehousing system
1.1 layouts are introduced
In CAMSWS, the intensive storage of Yao Shixian cargo facilitates sorting, generally turnover box is used to be placed on goods as container
Cargo is stored on frame.As shown in Figure 1, respectively there are row's shelf on each storage tunnel both sides, a grid is one on every row's shelf
Storage column, can place a turnover box.The horizontal transport of cargo is provided by shuttle, and the transport of vertical direction is born by elevator
Duty.Shuttle is divided into tunnel shuttle (abbreviation tunnel vehicle) and reprints shuttle (referred to as reprinting vehicle), each tunnel of each layer
There is a tunnel vehicle to be responsible for the horizontal transport of this layer of cargo Y-direction, the horizontal fortune that each layer has a reprinting vehicle to be responsible for X-direction
It is defeated.The setting for reprinting vehicle is a big advantage of across the tunnel Multilayer shuttle car warehousing system different from other sorting systems, and cargo can
To improve the flexibility of system, sorting task can directly sort order by reprinting across the tunnel operation of vehicle.Elevator point
It is main that the vertical transport of cargo in job task is provided for outbound elevator and storage elevator.One group of elevator only serves
One sorting table, wherein outbound elevator is responsible for goods handling to first layer, then is shipped to sorting table by conveyer；Storage
Elevator is then responsible for being transported to storage location the goods handling to be stored to target zone, then by shuttle.Grey area in Fig. 1
Domain representation is buffer area, is mainly used for temporary turnover box, reduces the mutual waiting time between equipment.Buffer area is broadly divided into two
Most of, a part is tunnel vehicle and reprints the buffer area between vehicle, and setting is in tunnel initial position, tunnel vehicle and reprinting vehicle
Junction.Another part is the buffer area reprinted between vehicle and elevator, and the junction of elevator Yu every layer of reprinting vehicle is arranged in.
The top view of CAMSWS is shown in Fig. 1, and the storage region of top half shows the layout of top layer, in CAMSWS
In, each layer of layout configuration is all identical.Conveyer and sorting table are arranged in first layer, instant packed conveying.By the layout
It is found that the quantity of tunnel vehicle is the shelf number of plies (T) and the product for storing tunnel number (A), the quantity for reprinting vehicle is equal to the shelf number of plies
(T), the group number of elevator is equal to the quantity (N of sorting tablep)。
1.2 work flow
In CAMSWS system, the service regulation of tunnel vehicle, reprinting vehicle and elevator is as follows:
1) it after shuttle and elevator completion task, just rests in last task and completes position, that is, follow point-of-
Service-completion (POSC) principle；
2) shuttle, elevator and sorting table are according to frist come,frist serve (first-come, first-
Served, FCFS) request received is serviced；
3) shuttle and elevator can only all transport a turnover box；
CAMSWS system as shown in Figure 2 sorts Mission Operations process.Order is generated after processing by WCS system
Reach in CAMSWS system under sorting task.After sorting task reaches, respective layer is requested to correspond to the tunnel vehicle in tunnel first, if
The tunnel vehicle is in working condition, then task is waited into the tunnel vehicle task queue, if tunnel vehicle is idle, responds this
It is engaged in and reaches the storage location of cargo needed for order.Tunnel vehicle is run along the tunnel guide rail, the turnover box for having required cargo
It is transported to outbound buffer area, if buffer area temporary storage location has expired, tunnel vehicle waits buffer area vacancy at this, if buffer area has
Vacancy, tunnel vehicle, which unloads turnover box and enters idle state, waits new task request.The turnover box of buffer area is placed on according to elder generation
Successively vehicle is reprinted in request to sequence afterwards, is reprinted vehicle according to FCFS principle and is executed task, outbound buffer area of the turnover box from tunnel
It is transported to corresponding outbound elevator buffer area, equally checks whether banked cache area has vacant position, if having vacant position, reprints vehicle unloading
Turnover box is then responding to new task request.Elevator receives the task requests of outbound buffer area turnover box, and turnover box is transported to
It one layer and unloads on a conveyor, is transported by conveyer to sorting table and carry out artificial picking.
The modeling of 2 system performance analysis
2.1 major parameter
The major parameter that the present invention uses is as shown in the table:
1.1 major parameter table of table
2.2 system performance
The present invention sorts timeliness from system cost, order and (completes used in an order sorting to the Performance Evaluation of CAMSWS
Time) and sorting efficiency (i.e. the maximum sorting amount of unit time system) these three aspect carry out.
System cost (CM) includes two parts: equipment cost and shelf cost.It can be found out by formula (1):
CM=(CR × A+CT) × T+CL × Np
+CS×(2×T×C×A) (1)
In formula:
CR: the unit price of tunnel vehicle
CT: the unit price of vehicle is reprinted
The unit price of CL: one group of elevator
CS: the shelf price in single storage goods yard
By formula (1) it is found that due to tunnel vehicle, reprinting the market unit price of vehicle and elevator much larger than single storage goods yard
Shelf price, so the totle drilling cost of these three equipment accounts for the large percentage of system cost.So system number of lanes (A), shelf
The number of plies (T), elevator quantity (Np) variations of these three parameters is affected to system cost.
Order sorts timeliness and refers to that order enters system to system of the leaving time experienced.The present invention only considers that sorting is appointed
Business, so order sorts timeliness (to) calculate it is as follows:
to=t1+t2+t3+t4+t5+t6+t7+t8+t9+t10+t11+t12+t13+t14+t15+t16+t17+t18 (2)
In formula:
1.2 parameter list of table
In formula (2), t1, t6, t11, t17It the time of service to be received such as is, the arrival rate with sorting task, service equipment
Efficiency of service it is related with the temporary capacity of buffer area.An accurate data, the present invention are set in part 2 in order to obtain
Simulation model has been counted to solve this four parts waiting time.Simultaneously present invention assumes that each equipment is hugged takes or unload used in turnover box
Time equal (i.e. t5=t3=t10=t8=t15=t13), it is equal to εpick.T in formula2And t4The range ability of tunnel vehicle all goes out
At banked cache area to purpose goods yard, so:
It is same:
t16It is that turnover box drives at a constant speed the time used on the conveyor belt, so:
The sorting efficiency of system refers to the sorting amount of unit time system.Due to the function of buffer area, each equipment (tunnel
Vehicle, reprint vehicle, elevator) between influence each other degree reduction.Present invention assumes that buffer area long enough, each equipment is independently transported
The respective task of row certainly exists the lower equipment of efficiency, referred to as since each plant machinery characteristic, range ability are different
The bottleneck of system, then the maximum sorting efficiency of system receives the limitation of system bottleneck.
By formula (2) it is found that tunnel vehicle, which completes a sorting task, is divided into four parts:
1) tunnel vehicle runs to purpose goods yard (t from outbound buffer area2)；
2) tunnel vehicle is hugged from storage goods yard and takes turnover box (t3)；
3) tunnel vehicle transports turnover box to outbound buffer area (t4)；
4) tunnel vehicle unloads turnover box (t in outbound buffer area5)；
So the maximum output TH of tunnel vehicler,maxIt can be in the hope of:
Equally, the maximum output TH of vehicle is reprintedt,maxIt can be in the hope of:
The maximum output TH of elevatorl,maxIt can be in the hope of:
The maximum output TH of sorting tablep,maxIt can be in the hope of:
THp,max=μp×Np (10)
Therefore, the maximum sorting efficiency of system:
THmax=min (THr,max,THt,max,THl,max,THp,max) (11)
3 system design setting models
3.1 objective function
The present invention is using system cost as standard, then optimal system configuration (layer, row, column) should make system cost minimum.
Min CM=(CR × A+CT) × T+CL × Np+CS×(2×T×C×A) (12)
s.t.THmax≥THr (13)
2×T×C×A≥nr (14)
to≤to,r (15)
In formula, THr: the system maximal efficiency of customer demand；nr: the system memory size of customer demand；to,r: customer demand
Order sort timeliness；
3.2 heuritic approach
The present invention takes Heuristic Intelligent Algorithm to obtain so that the least combination configuration of system cost.It is illustrated in figure 3
The present invention is based on the system design frameworks that heuritic approach proposes.The frame matches very much with the Optimization Mechanism of genetic algorithm.?
In the problem, the combination of system configuration (i.e. the number of lanes of system stores the number of plies, stores columns, sorts platform quantity) i.e. A,
T,C,NpBe decision factor, for find objective function approximate optimal solution, algorithm can be executed as follows:
Initialization: firstly the need of the requirement for meeting storage quantity, the storage quantity of system can by 2 × T of formula × C ×
A is calculated.Formula (1) is it is found that tunnel vehicle, reprinting vehicle, elevator account for large percentage in system cost, so for system cost
For, variables A, T and NpInfluence to cost is maximum.Tunnel vehicle with reprint vehicle cost all with T it is directly proportional, so the present invention examines
Minimum value T of the worry system initial configuration from TminStart to choose, to meet the least optimization aim of cost.While in order to meet visitor
Demand of the family for memory capacity, TminCalculation formula are as follows:
The shelf number of plies T of initial configurationminCalculation formula are as follows:
NrIndicate the memory capacity of customer requirement；
TminAs the shelf number of plies of system initial configuration, it is defined as T0.Influence of the number of lanes (A) for system cost
Greatly than storage columns (C), so the number of lanes A of system initial configuration0It can calculate in this way:
So initial storage columns (C0) calculation formula are as follows:
Next according to the sorting efficiency of customer demand, the quantity N of system sorting table is soughtp.Sorting table quantity NpCalculating it is public
Formula are as follows:
In formula: THr: the sorting efficiency (h of customer requirement-1)；
Formula (21) is set as the sorting efficiency of sorting table the system sorting efficiency of customer requirement.If sorting table is in this way
System bottleneck, system are still met customer need, if sorting table is not system bottleneck, by formula (11) it is found that other equipment (such as
Tunnel vehicle reprints vehicle, elevator) sorting efficiency certainly less than sorting table, while being also necessarily unsatisfactory for customer requirement.In formula
(21) in, we are provided with a constraint condition, from the layout structure of the mechanical property of elevator and CAMSWS on consider, I
Be arranged elevator quantity be not more than tunnel quantity.So in either case, by formula (21) obtained sorting table
Quantity is all optimal number.The initial configuration of system has all acquired.
1) it assesses: the maximum sorting efficiency TH of system under in such a configuration is asked by formula (11)max, by comparing THmaxWith
The sorting efficiency TH of customer demandr, can be confirmed whether the configuration meets customer need.If THmax>THr, it was demonstrated that the system is matched
It sets and meets customer need, termination algorithm, seeks system cost and order sorts timeliness.If THmax≤THr, illustrate at system bottleneck
Sorting efficiency is lower.Carry out 2) step system is optimized, by judging system bottleneck, take appropriate measures raising system
Sorting efficiency.
2) optimize: the step mainly increases the working efficiency of system by improving efficiency at system bottleneck.By formula
(21) it is found that the sorting efficiency of sorting table already meets customer requirement.So need to only analyze tunnel vehicle here, reprint vehicle, promoted
The sorting efficiency of machine.If tunnel vehicle is bottleneck (i.e. THmax=THr,max), can by increase the shelf number of plies or number of lanes come
Improve the sorting efficiency of tunnel vehicle.In view of warehouse size, because being chosen since minimum number of plies in formula (16), so this
In first consider by increase the shelf number of plies measure (i.e. step 7 in design framework) tunnel Lai Tigao vehicle sorting efficiency.Detection
Whether number of plies T is had reached the maximummax, its calculation formula is:
If no, increasing the number of plies, i.e. T=T+1 is as new value, then number of lanes and storage columns can be by following
Formula acquires:
If reaching maximum layer, tunnel vehicle sorting efficiency can only be improved by increasing number of lanes, detected before this
Whether number of lanes reaches maximum, if limiting beyond warehouse size, needs advisory customers demand again, i.e. storehouse provided by client
The system performance of library space and requirement mismatches.If increasing number of lanes, i.e. A=A+1 is as new without departing from warehouse size
Value, the shelf number of plies is constant, solves storage columns (C) by the memory capacity of customer demand.
If tunnel vehicle is not bottleneck, the sorting efficiency for reprinting vehicle is considered.If reprinting vehicle is bottleneck (i.e. THmax=
THt,max), increasing the shelf number of plies (T) is a relatively effective measure, and the shelf number of plies increases by 1, is calculated by formula (23) (24)
Number of lanes and storage columns, recalculate system maximum sorting efficiency.If reprinting vehicle is not bottleneck, then elevator is necessarily
The raising of the bottleneck of system, elevator sorting efficiency due to elevator and can sort number of units by increasing elevator quantity
Measure it is equal, so refresh sorting table quantity, then assessed again.
4 experimental studies
4.1 simulation analysis
Specification is stored according to the mechanical property of equipment in actual items and CAMSWS system, major parameter in table 2 is set:
Parameter setting in table 2CAMSWS
Flow of task is sorted according to the parameter value of setting and Fig. 2, the total quantity n of storage location is arranged in emulation experiment
It is 10000, it is 6,7,8 to number of lanes (A) that sorting table quantity, which is 4, i.e. the group number of elevator is also 4, and the shelf number of plies (T) is
7,9,11, different system configurations are analyzed respectively in totally 9, wherein storage columns is acquired according to different configuring conditions, i.e.,The system configuration different to each, the present invention considers three kinds of different inputs, and (i.e. order arrival rate is distinguished
For 1500h-1, 2000h-1, 2500h-1), so the simulation result of 36 kinds of different situations is as shown in table 2 altogether.
It is available such as to draw a conclusion by the simulation result of table 2:
1) as the maximum sorting efficiency TH of systemmaxWhen greater than system input, the output of system is determined by input；Phase
The anti-input for working as system is greater than system maximum sorting efficiency, and the output of system is equal to its maximum sorting efficiency.
2) the maximum sorting efficiency TH of systemmaxCan be by identifying system bottleneck come "ball-park" estimate, i.e., formula in 1.3
(7) method for seeking maximum sorting efficiency that~(11) are proposed.In simulation model, a sufficiently large input is given, such as table 2
In, arrival rate 10000h-1When, by the output for counting each equipment respectively.Such as simulation result of number 28, order arrival rate
For 10000h-1, the output of tunnel vehicle is 2749h-1, it was demonstrated that tunnel vehicle has reached its maximum processing capacity under the input, i.e.,
THr,max=2749；Equally, THt,max=1938, THl,max=2526, THp,max=2520, system bottleneck be then processing capacity most
Small reprinting vehicle.The output of simulation result display system is 1938h-1, equal to the sorting efficiency for reprinting vehicle in this case, i.e., such as formula
(11) shown in, the maximum sorting efficiency of system is equal to the sorting efficiency of system bottleneck.
3) bottleneck of system is influenced by system configuration, i.e., different number of lanes, the shelf number of plies store columns and mention
The quantity of machine sorting table is risen, the bottleneck of CAMSWS is different.(the emulation knot of number 20,21,24,27,29,30,33,36 from table 3
Fruit) as can be seen that when the shelf number of plies is relatively high, the bottleneck of system is elevator, because of elevator average service at this time
Time is elongated, so that the output of unit time tails off, therefore in order to eliminate the bottleneck of elevator here, it is possible to reduce shelf layer
Number, or increase elevator quantity；When number of lanes is more, reprinting vehicle average service time is relatively long, then reprints vehicle
Unit time output is less, at this time system bottleneck can reprint vehicle here (such as number 10,13,16,19,22,23,25,26,28,
Shown in 31,32,34,35 simulation result), for elimination gap, number of lanes can be generally reduced, or increase the number of plies to increase
Reprint vehicle quantity；Similarly, if storage columns is relatively more, tunnel vehicle may also can become system bottleneck, can reduce deposit at this time
Columns is stored up, or increases number of lanes to increase tunnel vehicle quantity, to eliminate the bottleneck at the vehicle of tunnel.
3 simulation result of table
4.2 analysis of cases
Data source is in certain e-commerce company of main management brand discount commodity, great Qu days sorting amount phases of the electric business enterprise
To larger, order has the characteristics that multi-varieties and small-batch.In order to facilitate picking, cargo is stored in turnover box, is then put
It sets on storing goods shelf.According to the gap between the size characteristics and turnover box of turnover box, the size for storing goods lattice is as follows:
Long (LS) 0.8 meter, wide (WS) 0.8, height (HT) 0.8 meter.The demand and resources supplIes of client are as shown in table 4 in the case:
4 customer demand of table and given condition
Because storing a turnover box in mono- goods lattice of CAMSWS, memory capacity described in table, that is, goods lattice quantity is 10000.
By storing goods shelf items dimension information in table and goods lattice size, system inter-road can be calculated by formula (13) (14) (18)
The maximum value of road quantity, storage columns and the shelf number of plies.It can obtain:
Amax=10
Cmax=125
Tmax=16
The market average price that table 5 show tunnel vehicle, reprints the system equipments such as vehicle, elevator and pallet material:
Table 5 equipment unit price
Table 6 is shown under 56 kinds of different system configurations, corresponding system performance performance.8 kinds of different goods are considered respectively
Rack-layer number and 7 kinds of different number of lanes.System memory size is met customer need, and is 10000, system maximal efficiency passes through public affairs
Formula (11) acquires, and system cost is acquired by related data in formula (1) and table 5, order sort timeliness by formula (2) and
Simulation model designed by part 2 solves.The conclusion (1) obtained by analysis of simulation result in 2.2, system when setting emulation
Input is 2000/h, if system maximum sorting efficiency is greater than 2000, system output is equal to input, if sorting efficiency is less than
2000, then customer requirement is not achieved in system.According to design framework, system initial configuration is calculated as runic the first row in table 5, i.e.,
The initial shelf number of plies is 4, and initial number of lanes is 10, and initial storage columns is 125, and elevator and sorting table quantity are 3.?
It is 900/h that system maximum sorting efficiency is calculated under the configuration, is much smaller than customer demand, when the order being in addition calculated sorts
Effect is 1.8h and worthless.It is to reprint vehicle through detection system bottleneck, so recalculating system by increasing the number of plies
Configuration, until meet demand.It finally calculates the second row of runic in table 6 to meet customer need, the shelf number of plies is 8, number of lanes
It is 7, storage columns is 90, and elevator and sorting table quantity are 7, and system maximum sorting efficiency is 2215/h, when order sorts
Effect is 9.5min, and system cost is minimum during the condition that meets configures.
Table 6 analyzes result
(n.a. indicates that the result is unsatisfactory for primary condition)
5 conclusions
(1) invention describes the composition of Multilayer shuttle car warehouse system and workflows, and from system cost, system is divided
Efficiency is picked, order sorts three aspects of timeliness and analyzes system performance.
(2) propose that Multilayer shuttle car System Performance Analysis method, system cost are arranged by the shelf number of plies, number of lanes, storage
Several and sorting table quantity is affected；The maximum sorting efficiency of system is influenced by system bottleneck, when system input be greater than etc.
When system maximum sorting efficiency, system reality output is equal to system maximum sorting efficiency, when system input is less than system maximum
When sorting efficiency, system reality output etc. is inputted with system；The Performance Evaluation side proposed by design simulation model, experimental verification
Method, and solve order and sort timeliness.
(3) the comprehensive design frame of Multilayer shuttle car system is proposed, it is highest to solve cost performance using heuritic approach
System configuration, to reduce the workload of designer.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (9)
1. across tunnel Multilayer shuttle car warehousing system design method, characterized in that include:
Collect customer requirement information；The customer requirement information, comprising: the sorting of the memory capacity, customer requirement of customer requirement
The order of efficiency, the construction area that client provides and customer requirement sorts timeliness；
Based on equipment unit price and number of devices, the system cost objective function of across tunnel Multilayer shuttle car warehousing system is set；
It is greater than the sorting efficiency of customer requirement based on system maximum sorting efficiency, the memory capacity of system is greater than depositing for customer requirement
Storage capacity and the order of system sort the principle that timeliness is smaller than the order sorting timeliness of customer requirement, establish the pact of objective function
Beam condition；
Not only it is being able to satisfy target function value minimum, but also is being able to satisfy under conditions of constraint condition, using heuritic approach to tunnel number
Amount, the shelf number of plies, storage columns, elevator quantity and sorting table quantity optimize, corresponding to output objective function optimal solution
Number of lanes, the shelf number of plies, storage columns, elevator and sorting table quantity；
It is described to be not only able to satisfy target function value minimum, but also be able to satisfy under conditions of constraint condition, using heuritic approach to lane
Road quantity, the shelf number of plies, storage columns, elevator quantity and sorting table quantity optimize, output objective function optimal solution institute
Corresponding number of lanes, the shelf number of plies, the specific steps of the quantity of storage columns, elevator and sorting table are as follows:
Step (1): calculating the initial configuration information of across tunnel Multilayer shuttle car warehousing system according to customer requirement information, described first
Beginning configuration information, comprising: the shelf number of plies, the number of lanes of the storage columns and initial configuration of initial configuration of initial configuration；
Step (2): the quantity of sorting table is calculated；
Step (3): computing system maximum sorting efficiency；
Step (4): judge whether system maximum sorting efficiency is greater than the sorting efficiency of customer requirement；If it is, computing system
Cost and practical order sort timeliness, meanwhile, number of lanes corresponding to output objective function optimal solution, is deposited at the shelf number of plies
Store up the quantity of columns, elevator and sorting table；If it is not, then entering step (5)；
Step (5): whether the maximum output efficiency for judging tunnel vehicle is maximum sorting efficiency, and the maximum sorting efficiency is equal to lane
Road vehicle, the minimum value for reprinting vehicle, elevator and the corresponding maximum output efficiency of sorting table；If it is, entering step
(6)；If it is not, then entering step (8)；
Step (6): judging whether the shelf number of plies reaches maximum value, if it is, entering step (7)；If not just by shelf layer
Number plus one, return step (3)；
Step (7): judging whether tunnel number reaches maximum, if it is, returning to the step of collecting customer requirement information, receives again
Collect the information of client's customer requirement adjusted；If it is not, then increasing number of lanes, return step (3)；
Step (8): judge to reprint whether the maximum output efficiency of vehicle is maximum sorting efficiency, if it is add the shelf number of plies
One, return step (3)；If it is not, then increasing the quantity of elevator, return step (2).
2. across tunnel Multilayer shuttle car warehousing system design method as described in claim 1, characterized in that setting is more across tunnel
The layer system cost objective function of shuttle warehousing system and the specific formula of constraint condition are as follows:
Min CM=(CR × A+CT) × T+CL × Np+CS×(2×T×C×A) (12)
s.t.THmax≥THr (13)
2×T×C×A≥nr (14)
to≤to,r (15)
Wherein, THrIndicate the sorting efficiency of customer requirement；nrIndicate the memory capacity of customer requirement；to,rIndicate customer requirement
Order sorts timeliness；CM indicates system cost, and CR indicates that the unit price of tunnel vehicle, A indicate the quantity in racks store tunnel, and CT is indicated
Reprint the unit price of vehicle；The storage number of plies of T expression shelf；The unit price of CL expression elevator；NpThe quantity of sorting table；CS indicates single
The price of storage location；C indicates the quantity of every row's racks store column；THmaxThe maximum sorting efficiency of expression system；toSystem
Order sorts timeliness.
3. across tunnel Multilayer shuttle car warehousing system design method as claimed in claim 2, characterized in that the order of system picks
Select the calculation formula of timeliness are as follows:
to=t1+t2+t3+t4+t5+t6+t7+t8+t9+t10+t11+t12+t13+t14+t15+t16+t17+t18 (2)
Wherein, t1Indicate that order waits tunnel vehicle to service the used time；t2Indicate tunnel vehicle from current location to the purpose goods yard used time；t3
It indicates that tunnel vehicle is hugged and takes the turnover box used time；t4Indicate tunnel vehicle from goods yard transporting box to the first outbound buffer area used time；t5Table
Show that tunnel vehicle unloads turnover box used time, t5=t3；t6It indicates that turnover box waits and reprints the vehicle service used time；t7Indicate to reprint vehicle from working as
Front position to purpose tunnel used time；t8It indicates that reprinting vehicle is hugged from the first outbound buffer area and takes the turnover box used time；t9It indicates to reprint vehicle fortune
Defeated turnover box used time at corresponding elevator；t10It indicates to reprint vehicle unloading turnover box to the second outbound buffer area used time；t10=
t8；t11Indicate that turnover box waits outbound elevator to service the used time；t12It indicates that outbound elevator is run from the bottom to target zone to use
When；t13It indicates that outbound elevator is hugged from the second outbound buffer area and takes the turnover box used time；t14Indicate outbound elevator traffic turnover box
To the used time of the bottom；t15Indicate that outbound elevator unloads the turnover box used time；t15=t13；t16Indicate the first conveyer transport week
The turnning box used time；t17Indicate that turnover box waits sorting table to service the used time；t18It indicates to sort and obtains the used time.
4. across tunnel Multilayer shuttle car warehousing system design method as claimed in claim 3, characterized in that the system is most
The calculation formula of big sorting efficiency are as follows:
THmax=min (THr,max,THt,max,THl,max,THp,max) (11)
Wherein,
THp,max=μp×Np (10)
Wherein, THmaxThe maximum sorting efficiency of expression system；THr,maxIndicate the maximum output efficiency of tunnel vehicle；
THt,maxIndicate the maximum output efficiency of reprinting vehicle；THl,maxIt indicates outbound or is put in storage the maximum output efficiency of elevator；
THp,maxIndicate the maximum output efficiency of sorting table；μpIndicate the sorting amount of each sorting table unit time, NpIndicate outbound
Or the quantity of storage elevator.
5. across tunnel Multilayer shuttle car warehousing system design method as described in claim 1, characterized in that the goods of initial configuration
Rack-layer number TminCalculation formula are as follows:
NrIndicate the memory capacity of customer requirement；
Wherein, the shelf number of plies T of initial configurationminIt is defined as T0；
The number of lanes A of initial configuration0Calculation formula are as follows:
The storage columns C of initial configuration0Calculation formula are as follows:
Step (2): the quantity N of sorting table is calculatedpSpecific steps are as follows:
In formula: THrIndicate the sorting efficiency of customer requirement；
Shelf number of plies maximum of T in the step (6)maxCalculation formula are as follows:
Wherein, AmaxIndicate the quantity maximum value in racks store tunnel；CmaxIndicate the quantity maximum value of every row's racks store column；
WmaxIndicate the width of storing goods shelf；WAIndicate the width in single storage tunnel；LSIndicate the length in single storage goods yard；LmaxTable
Show the length of storing goods shelf；WSIndicate the width in single storage goods yard；μPIndicate each sorting efficiency for sorting platform；A indicates goods
The quantity in frame storage tunnel；HmaxIndicate the height of storing goods shelf；HTIndicate the height of single layer storing goods shelf.
6. across tunnel Multilayer shuttle car warehousing system design method as described in claim 1, characterized in that described more across tunnel
Layer shuttle warehousing system, comprising:
Several storing goods shelfs, each storing goods shelf include several accumulation layers, and each layer of accumulation layer includes several storage lattice,
Each storage lattice are for placing turnover box；
Every two storing goods shelf is closely adjacent to each other setting, and storage lane is equipped between storing goods shelf and the storing goods shelf of non-close setting
Road, each accumulation layer have corresponding storage tunnel；Tunnel vehicle guide rail, each tunnel vehicle guide rail are equipped on each storage tunnel
On be equipped with moveable tunnel vehicle；
The first storage buffer area and the first outbound buffer area are respectively equipped in the endpoint of two storing goods shelfs of the setting that is closely adjacent to each other；
The direction vertical with tunnel, which is equipped with, reprints vehicle guide rail, and the side and the first storage buffer area and first for reprinting vehicle guide rail go out
The connection of banked cache area, the other side for reprinting vehicle guide rail are connect with the second storage buffer area and the second outbound buffer area；Reprint vehicle
Guide rail is equipped with moveable reprinting vehicle；
Second storage buffer area is connect with storage elevator；Second outbound buffer area is connect with outbound elevator；
Storage elevator is connect with the first conveyer, and outbound elevator is connect with second conveyor；
First conveyer and second conveyor are connect with sorting table；
The reprinting vehicle is separately positioned in each accumulation layer；
Transport of the tunnel vehicle for realizing cargo in tunnel；The fortune that vehicle is reprinted for realizing cargo between tunnel
It is defeated；
It is described to be put in storage elevator or outbound elevator for realizing cargo in the transport for storing interlayer；
The outbound elevator is responsible for cargo transport to first layer, then is transported to sorting table by the first conveyer；
The storage elevator, which is responsible for will acquire, to be transported to target zone, then is transported to purpose tunnel by reprinting vehicle, then pass through lane
Road vehicle is transported to purpose storage location；
The tunnel vehicle reprints vehicle, storage elevator, outbound elevator, the first conveyer and second conveyor and computer
Connection.
7. across tunnel Multilayer shuttle car warehousing system design method as described in claim 1, characterized in that described more across tunnel
The course of work of layer shuttle warehousing system, comprising:
Step (a1): receiving sorting task, issues tunnel vehicle using request, judges whether tunnel vehicle can be used, if tunnel vehicle
It is unavailable, then it waits, until tunnel vehicle is available；If it is available, then control tunnel vehicle is moved to picking position, control tunnel vehicle is hugged
Take turnover box；It controls tunnel vehicle and transports turnover box to outbound buffer area；
Step (a2): judging whether banked cache area has vacant position, if tunnel vehicle waits vacancy without vacancy；If free
Position, tunnel vehicle unload turnover box；Tunnel vehicle waits next work order；
Step (a3): it issues to vehicle is reprinted using request；Judge to reprint whether vehicle can be used, if it is not then waiting；If can
With then reprinting vehicle from current stop position and be moved to destination locations, reprint vehicle and hug and takes turnover box；
Step (a4): reprinting vehicle transport turnover box to corresponding outbound buffer area judges whether banked cache area has vacant position, if
Do not wait for；Just turnover box is placed on corresponding outbound buffer area if so, reprinting vehicle；It reprints vehicle and waits next work
Instruction；
Step (a5): outbound elevator is issued and uses request instruction, judges whether outbound elevator can be used, if it is not, then all
Turnning box waits outbound elevator；If it is, outbound elevator is moved to turnover box position from current location, outbound elevator is hugged
Turnover box is taken, outbound elevator transports turnover box to first layer, and elevator unloads turnover box, the first conveyer or second conveyor
Transporting box terminates to sorting table.
8. the Multilayer shuttle car warehousing system designing system based on heuritic approach, characterized in that include: memory, processor
And the computer instruction that storage is run on a memory and on a processor, when the computer instruction is run by processor,
Complete step described in any one of the claims 1-7 method.
9. a kind of computer readable storage medium, characterized in that be stored thereon with computer instruction, the computer instruction is located
When managing device operation, step described in any one of the claims 1-7 method is completed.
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