CN109657833A - A kind of tiered warehouse facility warehouse compartment searching algorithm - Google Patents
A kind of tiered warehouse facility warehouse compartment searching algorithm Download PDFInfo
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- CN109657833A CN109657833A CN201811256549.1A CN201811256549A CN109657833A CN 109657833 A CN109657833 A CN 109657833A CN 201811256549 A CN201811256549 A CN 201811256549A CN 109657833 A CN109657833 A CN 109657833A
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Abstract
The invention discloses a kind of tiered warehouse facility warehouse compartment searching algorithms, comprising the following steps: establishes three-dimensional array；Y-axis initial position is being determined according to warehouse compartment out and the height for entering warehouse compartment；Outbound and storage station are located at the negative axis of X-direction, the i.e. left side X [0], therefore are retrieved in the way of from small to large in X-direction without sequence；Due to piler toward two go out fork actuation time be it is equal, Z axis without sequence, retrieved in the way of from small to large；Warehouse compartment is retrieved according to time mode is most saved, determines X-axis, the priority of Y direction.Technical solution of the present invention allows piler to pick and place workpiece in library with most fast speed, the efficiency of stereo garage can be performed to maximum, provide the pitch time of optimization.
Description
Technical field
The present invention relates to stereo garage field, in particular to a kind of tiered warehouse facility warehouse compartment searching algorithm.
Background technique
Stereo warehouse is also tiered warehouse facility, can realize that warehouse high level rationalizes using tiered warehouse facility equipment, access is automatic
Change, easy to operateization High Level Rack storage, automated storage and retrieval system is widely used in machinery, electronics, chemical industry, medicine, cigarette
The all trades and professions such as grass, metallurgy, light industry, food, household electrical appliances, printing, INTEGRATED LOGISTICS, army, aerospace, rail traffic.With object
Flow that cost is higher and higher, recruitment cost is higher and higher, soil and space requirement are more and more urgent, automation require it is higher and higher,
Automatic stereowarehouse mode is gradually widely used, with computer technology and automatic control technology development and extensively answer
With the development of automated storage and retrieval system is rapider, is also used more and more by multiple industries.
Automatic stereowarehouse is usually by stereo storage rack, stacking machine for tunnel with track, goes out storage conveyer system, size inspection
Survey bar code reading system, communication system, automatic control system, computer management system (WMS) and other such as wire and cable bridge
Frame power distribution cabinet, pallet, the complicated automatic Material Handling System for adjusting the ancillary equipments such as platform, steel structure platform composition.With one
The Integrated Logistics theory of stream is led to using advanced control, bus, communication (wireless, infrared etc.) and information technology (RFID etc.)
The coordination linkage for crossing the above equipment is controlled by computer and carries out going out input work automatically, can realized automatically and receive, organize disk, enter
Library outbound, sorts, maintenance of making an inventory, delivery, the functions such as inventory statistics and alarm, report generation.
The outbound entry time of stereo garage be stereo garage automation an important requirement, be test stereo garage automation and
How intelligentized one, according to index, allow piler to pick and place workpiece in library with most fast speed, can be the effect of stereo garage
Maximum can be performed to, the pitch time of optimization is provided, is current problem to be solved.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of tiered warehouse facility warehouse compartment searching algorithm, piler can be made with most
Fast speed picks and places workpiece in library, the efficiency of stereo garage can be performed to maximum, provide the pitch time of optimization.
One of present invention tiered warehouse facility warehouse compartment searching algorithm, comprising the following steps:
S1: establishing three-dimensional array, Type [X, Y, Z], X, Y, and Z corresponds to the coordinate position in three axial directions, has vehicle in warehouse compartment
Relevant vehicle is then written in type, if it has not, being then written 0；
S2: determining initial position according to the height of warehouse compartment out,
The a height of h of outbound station, each a height of b of warehouse compartment are defined, bottom is d from warehouse compartment height when workpiece is put in storage1, workpiece deposit
Bottom is d from warehouse compartment height after warehouse compartment2,
When storage, the height difference H of each warehouse compartment of Y direction and storage plane1ΔY=| h- (b+1) * Y-d1|, [Y=0,1,2,
3],
When outbound, the height difference H of each warehouse compartment of Y direction and storage plane2ΔY=| h- (b+1) * Y-d2|, [Y=0,1,2,
3],
And according to numerical value H1ΔYAnd H2ΔY, determine the ordering rule of each warehouse compartment when Y direction storage and outbound；
S3: outbound is located at the negative axis of X-direction, the i.e. left side X [0] with storage station, therefore is not necessarily to sequence in X-direction,
It is retrieved in the way of from small to large；
S4: due to piler toward two go out fork actuation time be it is equal, Z axis without sequence, according to from it is small to
Big mode is retrieved；
S5: warehouse compartment is retrieved according to time mode is most saved, determines X-axis, the priority of Y direction.
In above scheme, the S5 the following steps are included:
S51: being (X according to the nearest warehouse compartment coordinate of the preferential ordered retrieval of X-axis1, Y1, Z1), each warehouse compartment length is C1, X
Axis direction speed is Vx1, acceleration ax1, runing time Tx1；Y-direction speed is Vy1, acceleration ay1, runing time is
Ty1, difference in height HΔ1, calculation method is as follows:
X-direction works as C1*(X1+ 1)≤(Vx1 2/ax1) when, runing time
Work as C1*(X1+1)>(Vx1 2/ax1) when, running time Tx1=C1*(X1+1)/Vx1+Vx1/ax1,
Y direction works as HΔ1≤ (Vy1 2/ay1) when, runing time
Work as HΔ1>(Vy1 2/ay1) when, running time Ty1=HΔ1/Vy1+Vy1/ay1,
Take Tx1With Ty1In maximum value, as reach this position time T1；
S52: according to the nearest warehouse compartment (X of the preferential ordered retrieval of Y-axis2, Y2, Z2), each warehouse compartment length is C2, X-direction speed
Degree is Vx2, acceleration ax2, runing time Tx2；Y-direction speed is Vy2, acceleration ay2, runing time Ty2, difference in height
For H Δ2, calculation method is as follows:
X-direction works as C2*(X2+ 1)≤(Vx2 2/ax2) when, runing time
Work as C2*(X2+1)>(Vx2 2/ax2) when, running time Tx2=C2*(X2+1)/V+V/ax2,
Y direction works as HΔ2≤ (Vy2 2/ay2) when, runing time
Work as HΔ2>(Vy2 2/ay2) when, running time Ty2=HΔ2/Vy2+Vy2/ay2,
Take Tx2With Ty2In maximum value, as reach this position time T2；
S53: compare T1With T2Value, the optimal warehouse compartment for taking reckling to retrieve as this.
The advantages and beneficial effects of the present invention are: the present invention provides a kind of tiered warehouse facility warehouse compartment searching algorithm, according to when
Between the principle that optimizes, plan as a whole to calculate, allow piler to pick and place workpiece in library with most fast speed, the efficiency of stereo garage can be sent out
Maximum is waved, productive temp is optimized, to have produced procedure section about a large amount of time.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is flow chart of the invention.
Fig. 2 is to go out warehouse compartment in the embodiment of the present invention and enter warehouse compartment station plan view.
Fig. 3 is that the axis direction of case of the embodiment of the present invention 1 provides schematic diagram.
Specific embodiment
With reference to the accompanying drawings and examples, further description of the specific embodiments of the present invention.Following embodiment is only
For clearly illustrating technical solution of the present invention, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, the present invention is a kind of tiered warehouse facility warehouse compartment searching algorithm, comprising the following steps:
S1: establishing three-dimensional array, Type [X, Y, Z], X, Y, and Z corresponds to the coordinate position in three axial directions, has vehicle in warehouse compartment
Relevant vehicle is then written in type, if it has not, being then written 0；
S2: determining initial position according to the height for entering and leaving warehouse compartment,
As shown in Fig. 2, defining a height of h of outbound station, each a height of b of warehouse compartment, bottom is from warehouse compartment height when workpiece is put in storage
d1, workpiece be stored in warehouse compartment after bottom from warehouse compartment height be d2,
When storage, the height difference H of each warehouse compartment of Y direction and storage plane1ΔY=| h- (b+1) * Y-d1|, [Y=0,1,2,
3],
When outbound, the height difference H of each warehouse compartment of Y direction and storage plane2ΔY=| h- (b+1) * Y-d2|, [Y=0,1,2,
3],
And according to numerical value H1ΔYAnd H2ΔY, determine the ordering rule of each warehouse compartment when Y direction storage and outbound；
As shown in figure 3, algorithm is shown for the stereo garage of 6x4 warehouse compartment of each shelf with 1 tunnel (i.e. 2 shelf),
Such as in a case 1, outbound station is 6 meters high, and each warehouse compartment is 2.5 meters high, Y-direction, and bottom is from warehouse compartment height when workpiece is put in storage
It is 0.25 meter, bottom is 0.15 (outbound height) from warehouse compartment height after workpiece deposit warehouse compartment,
When calculating storage, distance enter warehouse compartment it is nearest be H1Δ1=0.75, that farthest is H1Δ3=4.25, rank results are such as
Under:
H1Δ1=0.75,
H1Δ2=1.75,
H1Δ0=3.25,
H1Δ3=4.25,
According to time rule is most saved, it thus can confirm that Y-direction warehousing orders are 1,2,0,3；
When calculating outbound, distance out warehouse compartment it is nearest be H2Δ1=0.85, that farthest is H2Δ3=4.15, rank results are such as
Under:
H2Δ1=0.85,
H2Δ2=1.65,
H2Δ0=3.35,
H2Δ3=4.15,
According to time rule is most saved, it thus can confirm that Y-direction outbound sequence is 1,2,0,3.
S3: outbound is located at the negative axis of X-direction, the i.e. left side X [0] with storage station, therefore is not necessarily to sequence in X-direction,
It is retrieved in the way of from small to large；
S4: due to piler toward two go out fork actuation time be it is equal, Z axis without sequence, according to from it is small to
Big mode is retrieved；
S5: warehouse compartment is retrieved according to time mode is most saved, determines X-axis, the priority of Y direction.
S51: being (X according to the nearest warehouse compartment coordinate of the preferential ordered retrieval of X-axis1, Y1, Z1), each warehouse compartment length is C1, X
Axis direction speed is Vx1, acceleration ax1, runing time Tx1；Y-direction speed is Vy1, acceleration ay1, runing time is
Ty1, difference in height is H Δ1, calculation method is as follows:
X-direction works as C1*(X1+ 1)≤(Vx1 2/ax1) when, runing time
Work as C1*(X1+1)>(Vx1 2/ax1) when, running time Tx1=C1*(X1+1)/V+V/ax1,
Y direction works as HΔ1≤ (Vy1 2/ay1) when, runing time
Work as HΔ1>(Vy1 2/ay1) when, running time Ty1=HΔ1/Vy1+Vy1/ay1,
Take Tx1With Ty1In maximum value, as reach this position time T1；
S52: according to the nearest warehouse compartment (X of the preferential ordered retrieval of Y-axis2, Y2, Z2), each warehouse compartment length is C2, X-direction speed
Degree is Vx2, acceleration ax2, runing time Tx2；Y-direction speed is Vy2, acceleration ay2, runing time Ty2, difference in height
For H Δ2, calculation method is as follows:
X-direction works as C2*(X2+ 1)≤(Vx2 2/ax2) when, runing time
Work as C2*(X2+1)>(Vx2 2/ax2) when, running time Tx2=C2*(X2+1)/V+V/ax2,
Y direction works as HΔ2≤ (Vy2 2/ay2) when, runing time
Work as HΔ2>(Vy2 2/ay2) when, running time Ty2=HΔ2/Vy2+Vy2/ay2,
Take Tx2With Ty2In maximum value, as reach this position time T2；
S53: compare T1With T2Value, the optimal warehouse compartment for taking reckling to retrieve as this.
The advantages of the present invention:
For the technical program according to time-optimized principle, algorithm calculates every time at runtime can compare place's X-axis, Y-axis, Z
The time in each direction of axis to select optimal warehousing orders out, allows piler to pick and place workpiece in library with most fast speed,
The efficiency of stereo garage can be performed to maximum, optimize productive temp, to have produced procedure section about a large amount of time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of tiered warehouse facility warehouse compartment searching algorithm, which comprises the following steps:
S1: establishing three-dimensional array, Type [X, Y, Z], X, Y, and Z corresponds to the coordinate position in three axial directions, has vehicle then in warehouse compartment
Relevant vehicle is written, if it has not, being then written 0；
S2: determining Y-axis initial position according to warehouse compartment out and the height for entering warehouse compartment,
The a height of h of outbound station, each a height of b of warehouse compartment are defined, bottom is d from warehouse compartment height when workpiece is put in storage1, workpiece deposit warehouse compartment
Bottom is d from warehouse compartment height afterwards2,
When storage, the height difference H of each warehouse compartment of Y direction and storage plane1ΔY=| h- (b+1) * Y-d1|, [Y=0,1,2,3],
When outbound, the height difference H of each warehouse compartment of Y direction and storage plane2ΔY=| h- (b+1) * Y-d2|, [Y=0,1,2,3],
And according to numerical value H1ΔYAnd H2ΔY, determine the ordering rule of each warehouse compartment when Y direction storage and outbound；
S3: outbound is located at the negative axis of X-direction, the i.e. left side X [0] with storage station, therefore is not necessarily to sequence in X-direction, according to
Mode from small to large is retrieved；
S4: due to the actuation time that piler goes out fork toward two be it is equal, Z axis is without sequence, according to from small to large
Mode is retrieved；
S5: warehouse compartment is retrieved according to time mode is most saved, determines X-axis, the priority of Y direction.
2. a kind of tiered warehouse facility warehouse compartment searching algorithm according to claim 1, which is characterized in that the S5 includes following step
It is rapid:
S51: being (X according to the nearest warehouse compartment coordinate of the preferential ordered retrieval of X-axis1, Y1, Z1), each warehouse compartment length is C1, X-axis side
It is V to speedx1, acceleration ax1, runing time Tx1；Y-direction speed is Vy1, acceleration ay1, runing time Ty1, high
Degree difference is H Δ1, calculation method is as follows:
X-direction works as C1*(X1+ 1)≤(Vx1 2/ax1) when, runing time
Work as C1*(X1+1)>(Vx1 2/ax1) when, running time Tx1=C1*(X1+1)/V+V/ax1,
Y direction works as HΔ1≤ (Vy1 2/ay1) when, runing time
Work as HΔ1>(Vy1 2/ay1) when, running time Ty1=HΔ1/Vy1+Vy1/ay1,
Take Tx1With Ty1In maximum value, as reach this position time T1；
S52: according to the nearest warehouse compartment (X of the preferential ordered retrieval of Y-axis2, Y2, Z2), each warehouse compartment length is C2, X-direction speed is
Vx2, acceleration ax2, runing time Tx2；Y-direction speed is Vy2, acceleration ay2, runing time Ty2, difference in height is
HΔ2, calculation method is as follows:
X-direction works as C2*(X2+ 1)≤(Vx22/ax2) when, runing time
Work as C2*(X2+1)>(Vx2 2/ax2) when, running time Tx2=C2*(X2+1)/V+V/ax2,
Y direction works as HΔ2≤ (Vy2 2/ay2) when, runing time
Work as HΔ2>(Vy2 2/ay2) when, running time Ty2=HΔ2/Vy2+Vy2/ay2,
Take Tx2With Ty2In maximum value, as reach this position time T2；
S53: compare T1With T2Value, the optimal warehouse compartment for taking reckling to retrieve as this.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811256549.1A CN109657833A (en) | 2018-10-26 | 2018-10-26 | A kind of tiered warehouse facility warehouse compartment searching algorithm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811256549.1A CN109657833A (en) | 2018-10-26 | 2018-10-26 | A kind of tiered warehouse facility warehouse compartment searching algorithm |
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| CN109657833A true CN109657833A (en) | 2019-04-19 |
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Application publication date: 20190419 |