CN111160698B - Method and device for evaluating performance of multi-layer shuttle system - Google Patents

Method and device for evaluating performance of multi-layer shuttle system Download PDF

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CN111160698B
CN111160698B CN201911174454.XA CN201911174454A CN111160698B CN 111160698 B CN111160698 B CN 111160698B CN 201911174454 A CN201911174454 A CN 201911174454A CN 111160698 B CN111160698 B CN 111160698B
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吴颖颖
秦彩云
马文凯
胡金昌
杨金桥
田彬
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Abstract

本公开提供了一种多层穿梭车系统性能评估方法及装置。其中,一种多层穿梭车系统性能评估方法,包括分别建立转载车系统开环排队网络模型和环线系统开环排队网络模型;基于转载车系统开环排队网络模型和环线系统开环排队网络模型分别计算相应开环排队网络模型对应的吞吐量和订单完成周期;分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统。

Figure 201911174454

The present disclosure provides a method and device for evaluating the performance of a multi-layer shuttle vehicle system. Among them, a method for evaluating the performance of a multi-layer shuttle vehicle system includes establishing an open-loop queuing network model of a re-loading vehicle system and an open-loop queuing network model of a loop line system respectively; Calculate the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model respectively; under the condition that the number of layers and the number of lanes are constant, according to the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model, evaluate the optimal multi-storey shuttle system.

Figure 201911174454

Description

一种多层穿梭车系统性能评估方法及装置A method and device for evaluating the performance of a multi-layer shuttle system

技术领域technical field

本公开属于穿梭车方案推荐领域,尤其涉及一种多层穿梭车系统性能评估方法及装置。The present disclosure belongs to the field of shuttle car scheme recommendation, and in particular relates to a method and device for evaluating the performance of a multi-layer shuttle car system.

背景技术Background technique

本部分的陈述仅仅是提供了与本公开相关的背景技术信息,不必然构成在先技术。The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

随着电子商务的快速发展,物流配送中心的订单呈现出多品种、小批量且需快速响应的趋势,对拣选系统提出了更高的要求。多层穿梭车系统(Automated VehicleStorage/Retrieval System,AVS/RS)因其高效性、精准性等特点,近年来得到广泛应用。通常,多层穿梭车系统由巷道穿梭车(简称为巷道车)和提升机构成,但该结构系统需要在拣选完成后进行合单操作,导致操作人员多、拣选周期长。随着电商企业规模的不断扩大,其销售货物品种逐渐增加,单个订单所需货物在多个巷道中并存的现象越来越多,合单操作越来越普遍,急需一种新的系统来避免拣后合单。With the rapid development of e-commerce, the orders of logistics distribution centers show a trend of multiple varieties, small batches and fast response, which puts forward higher requirements for the picking system. Multi-layer shuttle system (Automated Vehicle Storage/Retrieval System, AVS/RS) has been widely used in recent years due to its high efficiency and accuracy. Usually, the multi-level shuttle system is composed of an aisle shuttle vehicle (referred to as an aisle vehicle) and a hoist, but this structural system needs to be combined after the picking is completed, resulting in a large number of operators and a long picking cycle. With the continuous expansion of the scale of e-commerce enterprises, the variety of goods they sell is gradually increasing. Avoid picking and combining orders.

发明人发现,目前对于多层穿梭车系统性能评估方法存在的问题是:基于转载车和基于环形输送线的两种类型的AVS/RS,二者均可实现货物的快速拣选,但在系统吞吐量和订单完成周期方面存在差异,致使企业决策者在系统选择方面存在困难。The inventor found that the current problem with the performance evaluation method of the multi-layer shuttle vehicle system is: two types of AVS/RS based on the transfer vehicle and based on the circular conveyor line, both of which can realize the fast picking of goods, but the system throughput is limited. There are differences in quantity and order completion cycle, which makes enterprise decision makers have difficulties in system selection.

发明内容SUMMARY OF THE INVENTION

为了解决上述问题,本公开提供一种多层穿梭车系统性能评估方法及装置,其降低了企业决策层初始化决策成本,减少了人力物力的投入成本,提高了多层穿梭车系统评估的准确性。In order to solve the above problems, the present disclosure provides a method and device for evaluating the performance of a multi-layer shuttle vehicle system, which reduces the initial decision-making cost of the enterprise decision-making layer, reduces the input cost of manpower and material resources, and improves the accuracy of the multi-layer shuttle vehicle system evaluation. .

为了实现上述目的,本公开采用如下技术方案:In order to achieve the above object, the present disclosure adopts the following technical solutions:

本公开的第一方面提供一种多层穿梭车系统性能评估方法,其包括:A first aspect of the present disclosure provides a method for evaluating the performance of a multi-level shuttle system, including:

分别建立转载车系统开环排队网络模型和环线系统开环排队网络模型;The open-loop queuing network model of the transshipment vehicle system and the open-loop queuing network model of the loop line system are established respectively;

基于转载车系统开环排队网络模型和环线系统开环排队网络模型分别计算相应开环排队网络模型对应的吞吐量和订单完成周期;Based on the open-loop queuing network model of the transshipment vehicle system and the open-loop queuing network model of the loop line system, the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model are calculated respectively;

分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统。When the number of layers and lanes are fixed, the optimal multi-layer shuttle system is evaluated according to the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model.

本公开的第二方面提供一种多层穿梭车系统性能评估装置,其包括:A second aspect of the present disclosure provides a device for evaluating the performance of a multi-level shuttle vehicle system, which includes:

开环排队网络模型建立模块,其用于分别建立转载车系统开环排队网络模型和环线系统开环排队网络模型;an open-loop queuing network model establishment module, which is used to establish the open-loop queuing network model of the transshipment vehicle system and the open-loop queuing network model of the loop line system respectively;

性能参数计算模块,其用于基于转载车系统开环排队网络模型和环线系统开环排队网络模型分别计算相应开环排队网络模型对应的吞吐量和订单完成周期;A performance parameter calculation module, which is used to calculate the throughput and order completion period corresponding to the corresponding open-loop queuing network model based on the open-loop queuing network model of the transshipment vehicle system and the open-loop queuing network model of the loop line system respectively;

最优多层穿梭车系统评估模块,其用于分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统。The optimal multi-layer shuttle system evaluation module is used to evaluate the optimal multi-layer shuttle according to the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model under the condition that the number of layers and the number of lanes are constant. car system.

本公开的第三方面提供一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现如上述所述的多层穿梭车系统性能评估方法中的步骤。A third aspect of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps in the method for evaluating the performance of a multi-level shuttle system as described above.

本公开的第四方面提供一种计算机设备,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,所述处理器执行所述程序时实现如上述所述的多层穿梭车系统性能评估方法中的步骤。A fourth aspect of the present disclosure provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the multi-layer as described above when the processor executes the program Steps in a method for evaluating the performance of a shuttle system.

本公开的有益效果是:The beneficial effects of the present disclosure are:

本公开首先建立两个系统的开环排队网络模型,然后求解系统吞吐量、订单完成周期,分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统,降低了企业决策层初始化决策成本,减少了人力物力的投入成本,提高了多层穿梭车系统评估的准确性。The present disclosure first establishes the open-loop queuing network models of the two systems, and then solves the system throughput and order completion period. Under the condition that the number of layers and the number of lanes are constant, the throughput and order corresponding to the corresponding open-loop queuing network models are calculated. After completing the cycle, the optimal multi-layer shuttle system is evaluated, which reduces the initial decision-making cost of the enterprise decision-making layer, reduces the input cost of manpower and material resources, and improves the accuracy of the multi-layer shuttle system evaluation.

附图说明Description of drawings

构成本公开的一部分的说明书附图用来提供对本公开的进一步理解,本公开的示意性实施例及其说明用于解释本公开,并不构成对本公开的不当限定。The accompanying drawings that constitute a part of the present disclosure are used to provide further understanding of the present disclosure, and the exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure.

图1是本公开实施例提供的一种多层穿梭车系统性能评估方法流程图;1 is a flowchart of a method for evaluating the performance of a multi-layer shuttle vehicle system provided by an embodiment of the present disclosure;

图2是本公开实施例提供的转载车系统示意图;FIG. 2 is a schematic diagram of a transfer vehicle system provided by an embodiment of the present disclosure;

图3是本公开实施例提供的环线系统示意图;3 is a schematic diagram of a loop line system provided by an embodiment of the present disclosure;

图4是本公开实施例提供的转载车系统开环排队网络模型;FIG. 4 is an open-loop queuing network model of a reloading vehicle system provided by an embodiment of the present disclosure;

图5是本公开实施例提供的环线系统开环排队网络模型;5 is an open-loop queuing network model of a loop line system provided by an embodiment of the present disclosure;

图6(a)是本公开实施例提供的巷道车的加速度变化图;Fig. 6(a) is an acceleration change diagram of a roadway vehicle provided by an embodiment of the present disclosure;

图6(b)是本公开实施例提供的巷道车的速度变化图;Fig. 6(b) is a speed change diagram of a roadway vehicle provided by an embodiment of the present disclosure;

图7是本公开实施例提供的转载车系统和环线系统吞吐量比较结果;FIG. 7 is a comparison result of throughput between a transfer vehicle system and a loop system provided by an embodiment of the present disclosure;

图8(a)是本公开实施例提供的巷道数2~6、层数3~11下转载车系统和环线系统作业时间差值实验结果;FIG. 8( a ) is the experimental result of the operating time difference between the undercarriage system with the number of lanes 2 to 6 and the number of floors 3 to 11 and the loop system provided by the embodiment of the present disclosure;

图8(b)是本公开实施例提供的巷道数7~10、层数3~11下转载车系统和环线系统作业时间差值实验结果;Fig. 8(b) is the experimental result of the difference in operating time between the undercarriage system and the loop system provided by the embodiment of the present disclosure;

图8(c)是本公开实施例提供的巷道数2~6、层数12~20下转载车系统和环线系统作业时间差值实验结果;FIG. 8( c ) is an experimental result of the difference in operating time between the undercarriage system and the loop system provided by the embodiment of the present disclosure;

图8(d)是本公开实施例提供的巷道7~10、层12~20下转载车系统和环线系统作业时间差值实验结果;Fig. 8(d) is the experimental result of the difference in operating time between the transfer vehicle system under the lanes 7-10, the layers 12-20, and the loop system provided by the embodiment of the present disclosure;

图9是本公开实施例提供的一种多层穿梭车系统性能评估装置结构示意图。FIG. 9 is a schematic structural diagram of an apparatus for evaluating the performance of a multi-layer shuttle vehicle system provided by an embodiment of the present disclosure.

具体实施方式Detailed ways

下面结合附图与实施例对本公开作进一步说明。The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

应该指出,以下详细说明都是例示性的,旨在对本公开提供进一步的说明。除非另有指明,本实施例使用的所有技术和科学术语具有与本公开所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless otherwise defined, all technical and scientific terms used in the examples have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

需要注意的是,这里所使用的术语仅是为了描述具体实施方式,而非意图限制根据本公开的示例性实施方式。如在这里所使用的,除非上下文另外明确指出,否则单数形式也意图包括复数形式,此外,还应当理解的是,当在本说明书中使用术语“包含”和/或“包括”时,其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

术语解释:Terminology Explanation:

(1)转载车系统(1) Reloading vehicle system

转载车系统以料箱为存储单元,由巷道车、转载车、提升机、拣选台和输送缓存区组成。每层每巷道均配置一台巷道车,每层配置一台转载车,每两台提升机(分别负责出库和入库)对应一个拣选台。巷道车负责料箱在单个巷道单层的水平运动,转载车负责不同巷道间的水平运动,提升机负责不同层之间的垂直运动,输送缓存区负责暂存出入库过程中的料箱。系统俯视图与出入库流程如图2所示,其中虚线为入库流程,实线为出库流程。The reloading vehicle system takes the material box as the storage unit, and is composed of roadway vehicles, reloading vehicles, elevators, picking tables and conveying buffer areas. Each floor and each roadway is equipped with one roadway car, each floor is equipped with one transfer car, and every two hoists (respectively responsible for outbound and inbound) correspond to a picking table. The roadway car is responsible for the horizontal movement of the material box in a single roadway, the transfer car is responsible for the horizontal movement between different roadways, the hoist is responsible for the vertical movement between different layers, and the conveying buffer area is responsible for temporarily storing the material box in the process of entering and leaving the warehouse. The top view of the system and the in-out process are shown in Figure 2, where the dotted line is the in-warehousing process, and the solid line is the out-of-warehouse process.

系统执行出库任务时,首先由巷道车叉取料箱,将其运送至对应的出库缓存区;然后由转载车将其运送至对应出库缓存区,再由提升机将料箱运送至对应出库缓存区;最后在拣选台完成拣选。系统执行入库任务时,料箱首先从拣选台进入入库缓存区,由提升机将料箱运送至对应入库缓存区;然后由转载车将其运送至对应入库缓存区;最后由巷道车将料箱运送至指定货位。When the system performs the outbound task, firstly, the material box is retrieved by the roadway fork and transported to the corresponding outbound buffer area; then the reloading vehicle transports it to the corresponding outbound buffer area, and then the elevator transports the material box to the corresponding outbound buffer area. Corresponding to the outbound buffer area; finally, the picking is completed at the picking table. When the system performs the warehousing task, the material box first enters the warehousing buffer area from the picking table, and the hoist transports the material box to the corresponding warehousing buffer area; then the reloading vehicle transports it to the corresponding warehousing buffer area; The truck transports the material box to the designated location.

(2)环线系统(2) Loop system

环线系统以料箱为存储单元,由巷道车、提升机、环形输送线、拣选台和输送缓存区组成。每层每巷道均配置一台巷道车,每巷道对应两台提升机(分别负责出库和入库),环形输送线仅布置在一层,负责料箱在不同提升机和拣选台之间的输送。系统俯视图与出入库流程如图3所示,其中虚线代表入库流程,实线代表出库流程。The loop line system takes the material box as the storage unit, and consists of the roadway car, the hoist, the circular conveying line, the picking table and the conveying buffer area. Each lane is equipped with one lane car, and each lane corresponds to two hoists (respectively responsible for outbound and inbound), and the circular conveyor line is only arranged on the first floor, responsible for the transport of the bins between different hoists and picking tables. delivery. The top view of the system and the in-out process are shown in Figure 3, where the dotted line represents the in-warehousing process, and the solid line represents the out-of-warehouse process.

系统执行出库任务时,首先由巷道车叉取料箱,将其运送至对应的出库缓存区,然后由提升机将其运送至对应出库缓存区,并进入环形输送线,最后料箱随环形输送线进入对应拣选台,完成拣选。系统执行入库任务时,料箱首先从拣选台进入入库缓存区,由环形输送线将料箱运送至对应入库缓存区;然后由提升机将其运送至对应入库缓存区;最后由巷道车将料箱运送至指定货位。When the system performs the outbound task, firstly, the material box is retrieved by the roadway fork, transported to the corresponding outbound buffer area, and then transported to the corresponding outbound buffer area by the hoist, and then enters the circular conveyor line, and finally the material box is transported to the corresponding outbound buffer area by the elevator. Enter the corresponding picking table with the circular conveyor line to complete the picking. When the system performs the warehousing task, the material box first enters the warehousing buffer area from the picking table, and the material box is transported to the corresponding warehousing buffer area by the circular conveying line; then it is transported to the corresponding warehousing buffer area by the elevator; The roadway truck transports the material box to the designated location.

实施例1Example 1

如图1所示,本实施例提供了一种多层穿梭车系统性能评估方法,其包括:As shown in FIG. 1 , this embodiment provides a method for evaluating the performance of a multi-layer shuttle vehicle system, which includes:

步骤1:分别建立转载车系统开环排队网络模型和环线系统开环排队网络模型。Step 1: Establish the open-loop queuing network model of the reloading vehicle system and the open-loop queuing network model of the loop system respectively.

本实施例系统变量定义如下:The system variables of this embodiment are defined as follows:

Figure BDA0002289601720000061
Figure BDA0002289601720000061

Figure BDA0002289601720000071
Figure BDA0002289601720000071

为简化模型,本实施例对AVS/RS提出以下假设:(1)料箱回库时,遵循随机货位分配策略;(2)可移动系统设备即巷道车、转载车和提升机的停靠点为上次出入库作业完成点;(3)订单服从先到先服务原则;(4)订单到达服从泊松分布;(5)拣选台服务时间为常数,可移动系统设备服务时间遵循一般分布;(6)输送缓存区容量足够大;(7)一个料箱仅存放一种商品,一种商品也仅存放在一个料箱里。In order to simplify the model, the following assumptions are put forward for AVS/RS in this embodiment: (1) When the material box is returned to the warehouse, follow the random cargo space allocation strategy; (2) The movable system equipment is the docking point of roadway vehicles, transfer vehicles and hoists (3) The order obeys the principle of first-come, first-served; (4) The order arrival obeys Poisson distribution; (5) The service time of the picking table is constant, and the service time of the mobile system equipment follows the general distribution; (6) The capacity of the conveying buffer area is large enough; (7) One material box only stores one kind of commodity, and one kind of commodity is only stored in one material box.

基于上述假设,建立转载车系统开环排队网络模型,如图4所示。当系统执行出库任务时,订单到达率λ是系统输入,同时也是巷道车的输入;巷道车的输出是转载车的输入;转载车的输出是提升的输入;提升机的输出是拣选台的输入。反之,当系统执行入库任务时,拣选台的输出是提升机的输入;提升机的输出是转载车的输入;转载车的输出是巷道车的输入。Based on the above assumptions, an open-loop queuing network model of the reloading vehicle system is established, as shown in Figure 4. When the system performs the outbound task, the order arrival rate λ is the input of the system, and it is also the input of the roadway car; the output of the roadway car is the input of the reloading car; the output of the reloading car is the input of lifting; the output of the elevator is the input of the picking table enter. On the contrary, when the system performs the warehousing task, the output of the picking table is the input of the hoist; the output of the hoist is the input of the reloading car; the output of the reloading car is the input of the roadway car.

由于订单到达服从泊松分布,巷道车、转载车和提升机的服务时间服从一般分布,拣选台的服务时间服从均匀分布,因此巷道车、转载车、提升机、拣选台与对应输送缓存区,构成M/G/1队列。Since the arrival of orders obeys Poisson distribution, the service time of roadway vehicles, transfer vehicles and elevators obeys general distribution, and the service time of picking tables obeys uniform distribution. Form the M/G/1 queue.

基于上述假设,建立环线系统开环排队网络模型,如图5所示。当系统执行出库任务时,订单到达率λ是系统输入,同时也是巷道车的输入;巷道车的输出是提升机的输入;提升机的输出是环形输送线的输入;环形输送线的输出是拣选台的输入。反之,当系统执行入库任务时,拣选台的输出是环形输送线的输入;环形输送线的输出是提升机的输入;提升机的输出是巷道车的输入。Based on the above assumptions, an open-loop queuing network model of the ring line system is established, as shown in Figure 5. When the system performs the outbound task, the order arrival rate λ is the input of the system and the input of the roadway car; the output of the roadway car is the input of the hoist; the output of the hoist is the input of the ring conveyor line; the output of the ring conveyor line is The input of the pick table. Conversely, when the system performs the warehousing task, the output of the picking table is the input of the circular conveyor line; the output of the circular conveyor line is the input of the hoist; the output of the hoist is the input of the roadway car.

与转载车系统相同,环线系统排队网络模型中,巷道车、提升机、环形输送线、拣选台与对应输送缓存区,构成M/G/1队列。Similar to the transfer car system, in the queuing network model of the loop system, the roadway car, the hoist, the loop conveying line, the picking table and the corresponding conveying buffer area constitute the M/G/1 queue.

步骤2:基于转载车系统开环排队网络模型和环线系统开环排队网络模型分别计算相应开环排队网络模型对应的吞吐量和订单完成周期;Step 2: Calculate the throughput and order completion period corresponding to the corresponding open-loop queuing network model based on the open-loop queuing network model of the reloading vehicle system and the open-loop queuing network model of the loop line system respectively;

AVS/RS系统性能包括吞吐量和订单完成周期。吞吐量是指单位时间内系统的订单处理量,订单完成周期是指订单从开始出库到拣选结束的时间。AVS/RS system performance includes throughput and order fulfillment cycles. Throughput refers to the order processing volume of the system per unit time, and the order completion cycle refers to the time from the start of the order out of the warehouse to the end of the picking.

由系统工作流程可知,系统性能由出库流程和入库流程共同决定,而系统入库流程与出库流程完全相反,因此本实施例仅考虑出库流程下的系统吞吐量及订单完成周期。两种系统的实际吞吐量与订单完成周期比较结果与本实施例结果一致。It can be seen from the system workflow that the system performance is jointly determined by the outbound process and the inbound process, and the system inbound process is completely opposite to the outbound process. Therefore, this embodiment only considers the system throughput and order completion cycle under the outbound process. The comparison results of the actual throughput and the order completion period of the two systems are consistent with the results of this embodiment.

系统非决策变量定义如下:The system non-decision variables are defined as follows:

Figure BDA0002289601720000081
Figure BDA0002289601720000081

系统决策变量定义如下:The system decision variables are defined as follows:

Figure BDA0002289601720000082
Figure BDA0002289601720000082

Figure BDA0002289601720000091
Figure BDA0002289601720000091

(a1)转载车系统吞吐量(a1) Throughput of the reloading vehicle system

转载车系统吞吐量为巷道车、转载车、提升机和拣选台四种设备吞吐量的最小值,即The throughput of the transfer vehicle system is the minimum of the throughputs of the four types of equipment, namely the roadway car, the transfer car, the elevator and the picking table, namely

τm1=min(τASCASLW) (1)τ m1 =min(τ ASCASLW ) (1)

其中in

Figure BDA0002289601720000092
Figure BDA0002289601720000092

Figure BDA0002289601720000093
Figure BDA0002289601720000093

Figure BDA0002289601720000094
Figure BDA0002289601720000094

Figure BDA0002289601720000095
Figure BDA0002289601720000095

巷道车的服务时间包括三部分:(1)从输送缓存区(定义输送缓存区为第0列)或货位任一列,统称为j(0≤j≤c)列,到货位第i(1≤i≤c)列取料箱行走的时间

Figure BDA0002289601720000096
(如公式6所示);(2)将料箱从第i列运送至输送缓存区行走的时间
Figure BDA0002289601720000097
(如公式7所示);(3)取、放料箱的时间tp1。根据巷道车的行驶距离和速度变化情况,分两种情况考虑,第一种情况为巷道车在行走时间t内到达最高速,第二种情况为巷道车未到达最高速,分别如图6(a)和图6(b)所示,其中aAS
Figure BDA0002289601720000098
分别为巷道车的加速度和最大速度。The service time of the roadway car includes three parts: (1) From the conveying buffer area (defining the conveying buffer area as the 0th column) or any column of the cargo position, collectively referred to as the j (0≤j≤c) column, to the i-th ( 1≤i≤c) The walking time of the reclaiming box
Figure BDA0002289601720000096
(as shown in formula 6); (2) the time for transporting the material box from the i-th column to the conveying buffer area
Figure BDA0002289601720000097
(as shown in formula 7); (3) the time t p1 for taking and discharging the bin. According to the driving distance and speed changes of the roadway vehicle, two cases are considered. The first case is that the roadway vehicle reaches the highest speed within the travel time t, and the second case is that the roadway vehicle does not reach the highest speed, as shown in Figure 6 ( a) and Figure 6(b), where a AS and
Figure BDA0002289601720000098
are the acceleration and maximum speed of the roadway vehicle, respectively.

巷道车将料箱从第i列运送至输送缓存区行走的时间为The time for the roadway truck to transport the material box from the i-th column to the conveying buffer area is:

Figure BDA0002289601720000101
Figure BDA0002289601720000101

式(7)中nd与公式(6)中nd取值相同。The value of n d in formula (7) is the same as that in formula (6 ) .

巷道车从第i列取料箱的时间为The time for the roadway car to take the material box from the i-th row is

Figure BDA0002289601720000102
Figure BDA0002289601720000102

巷道车的平均服务时间为The average service time for roadway cars is

Figure BDA0002289601720000103
Figure BDA0002289601720000103

转载车的服务时间包括:(1)从停靠点,即第i(1≤i≤l)个提升机到第j(1≤j≤a)个巷道输送缓存区取料箱行走的时间ti,j(如公式10所示);(2)将料箱运送至第k(1≤k≤l)个提升机行走的时间tj,k(如公式11所示);(3)取、放料箱的时间tp2The service time of the reloading vehicle includes: (1) The time t i from the stop point, that is, the i-th (1≤i≤l) elevator to the j-th (1≤j≤a) aisle conveying buffer area for the reclaiming box travel time t i ,j (as shown in Equation 10); (2) the time t j,k (as shown in Equation 11) when the material box is transported to the k (1≤k≤l) hoist travel time; (3) take, The time t p2 for discharging the bin.

Figure BDA0002289601720000104
Figure BDA0002289601720000104

Figure BDA0002289601720000105
Figure BDA0002289601720000105

式(10)、(11)中,aCAS

Figure BDA0002289601720000106
分别为转载车的加速度和最大速度,di,j和dj,k分别为转载车从第i个提升机到第j个巷道输送缓存区取料箱的距离和从第j个巷道输送缓存区到第k个提升机送料箱的距离。In formulas (10) and (11), a CAS and
Figure BDA0002289601720000106
are the acceleration and maximum speed of the reloading vehicle, respectively, d i,j and d j,k are the distance from the ith hoist to the reclaiming box in the jth lane conveying buffer area and the conveying buffer from the jth lane respectively. The distance from the zone to the kth elevator feed box.

转载车从第j个巷道出库缓存区取料箱的时间为The time for the reloading vehicle to leave the storage area of the j-th roadway to take the material box is:

Figure BDA0002289601720000111
Figure BDA0002289601720000111

(1≤i≤l,1≤j≤a,1≤k≤l)(1≤i≤l, 1≤j≤a, 1≤k≤l)

转载车的平均服务时间为The average service time of the reloading car is

Figure BDA0002289601720000112
Figure BDA0002289601720000112

提升机的服务时间包括:(1)从第1层到第i(1≤i≤t)层取料箱行走的时间

Figure BDA0002289601720000113
(如公式14所示);(2)从第i层到第1层送料箱行走的时间
Figure BDA0002289601720000114
(3)取、放料箱的时间tp3。The service time of the hoist includes: (1) The time from the first layer to the i-th layer (1≤i≤t) for the reclaiming box to travel
Figure BDA0002289601720000113
(as shown in Equation 14); (2) the travel time from the i-th layer to the first-layer feeding box
Figure BDA0002289601720000114
(3) The time t p3 for taking and discharging the bin.

Figure BDA0002289601720000115
Figure BDA0002289601720000115

式(14)中,aL

Figure BDA0002289601720000116
分别为提升机的加速度和最大速度,nl为提升机达到最大速度时需要的层数且
Figure BDA0002289601720000117
In formula (14), a L and
Figure BDA0002289601720000116
are the acceleration and maximum speed of the hoist, respectively, n l is the number of layers required when the hoist reaches the maximum speed and
Figure BDA0002289601720000117

提升机从第i层取料箱的时间为The time that the elevator takes from the i-th layer of the material box is

Figure BDA0002289601720000118
Figure BDA0002289601720000118

提升机的平均服务时间为The average service time of the hoist is

Figure BDA0002289601720000119
Figure BDA0002289601720000119

(a2)转载车系统订单完成周期(a2) Order completion cycle of the reloading vehicle system

转载车系统订单完成周期为服务机构(巷道车、转载车、提升机和拣选台)的服务时间与等待时间的总和,即The order completion cycle of the transfer vehicle system is the sum of the service time and waiting time of the service organization (roadway car, transfer car, elevator and picking table), namely

Figure BDA0002289601720000121
Figure BDA0002289601720000121

由于巷道车、转载车、提升机、拣选台与各自的输送缓存区,构成M/G/1排队模型,因此可利用波拉泽克-辛钦(Pollaczek-Khintchine)公式得出服务机构的队长和等待时间,分别如公式(18)、(19)所示。Since the roadway car, the transfer car, the elevator, the picking table and their respective conveying buffer areas constitute the M/G/1 queuing model, the Pollaczek-Khintchine formula can be used to obtain the captain of the service organization. and waiting time, as shown in equations (18) and (19), respectively.

Figure BDA0002289601720000122
Figure BDA0002289601720000122

Figure BDA0002289601720000123
Figure BDA0002289601720000123

式(18)、(19)中,ρ和σ2分别为服务机构(巷道车、转载车、提升机、环形输送线和拣选台)的利用率和服务时间方差,ρ=λμ,

Figure BDA0002289601720000124
其中λ为订单到达率;μ为单位时间内完成的订单数,其值为平均服务时间的倒数;t为每个服务机构单个订单完成时间(巷道车、转载车、提升机、拣选台对应值分别为
Figure BDA0002289601720000125
E(t)为服务机构平均服务时间,Pk为每个订单到达的概率,k为到达系统的订单编号。In formulas (18) and (19), ρ and σ 2 are the utilization rate and service time variance of service organizations (roadway vehicles, transfer vehicles, hoists, annular conveying lines and picking tables), respectively, ρ=λμ,
Figure BDA0002289601720000124
Among them, λ is the order arrival rate; μ is the number of completed orders per unit time, which is the reciprocal of the average service time; t is the completion time of a single order for each service organization (the corresponding value of roadway vehicles, transfer vehicles, elevators, and picking tables) respectively
Figure BDA0002289601720000125
E(t) is the average service time of the service organization, P k is the probability of each order arriving, and k is the order number arriving in the system.

将式(19)应用至转载车系统中,可得:Applying equation (19) to the reloading vehicle system, we can get:

料箱等待巷道车服务的时间为The time for the material box to wait for the service of the roadway car is

Figure BDA0002289601720000126
Figure BDA0002289601720000126

式(20)中,

Figure BDA0002289601720000127
Figure BDA0002289601720000128
分别为第i层j巷道巷道车取料箱的概率、订单到达率、利用率和服务时间方差,由于本实施例中的AS/RS遵循随机存取原则,因此In formula (20),
Figure BDA0002289601720000127
and
Figure BDA0002289601720000128
are the probability, order arrival rate, utilization rate, and service time variance of the vehicle reclaiming box in the i-th layer j roadway, respectively. Since the AS/RS in this embodiment follows the random access principle, so

Figure BDA0002289601720000129
Figure BDA0002289601720000129

料箱等待转载车服务的时间为The time for the material box to wait for the transfer car service is

Figure BDA00022896017200001210
Figure BDA00022896017200001210

式(21)中,

Figure BDA0002289601720000131
Figure BDA0002289601720000132
分别为第i层转载车取料箱的概率、订单到达率、利用率和服务时间方差,由于本实施例中的AS/RS遵循随机存取原则,因此In formula (21),
Figure BDA0002289601720000131
and
Figure BDA0002289601720000132
are the probability, order arrival rate, utilization rate and service time variance of the reloading box of the i-th layer, respectively. Since the AS/RS in this embodiment follows the random access principle, so

Figure BDA0002289601720000133
Figure BDA0002289601720000133

Figure BDA0002289601720000134
Figure BDA0002289601720000134

料箱等待提升机服务的时间为The time for the material box to wait for the elevator service is

Figure BDA0002289601720000135
Figure BDA0002289601720000135

式(22)中,

Figure BDA0002289601720000136
Figure BDA0002289601720000137
分别为第k个提升机取料箱的概率、订单到达率、利用率和服务时间方差,由于本实施例中的AS/RS遵循随机存取原则,因此In formula (22),
Figure BDA0002289601720000136
and
Figure BDA0002289601720000137
are the probability, order arrival rate, utilization rate, and service time variance of the k-th elevator reclaiming box, respectively. Since the AS/RS in this embodiment follows the random access principle, so

Figure BDA0002289601720000138
Figure BDA0002289601720000138

料箱等待拣选台服务的时间为The time for the bin to wait for the picker to be serviced is

Figure BDA0002289601720000139
Figure BDA0002289601720000139

式(23)中,

Figure BDA00022896017200001310
Figure BDA00022896017200001311
分别为第m个拣选台进行拣选作业的概率、订单到达率和利用率,由于本实施例中的AS/RS遵循随机存取原则,因此
Figure BDA00022896017200001312
Figure BDA00022896017200001313
In formula (23),
Figure BDA00022896017200001310
and
Figure BDA00022896017200001311
are the probability, order arrival rate, and utilization rate of the picking operation performed by the mth picking table, respectively. Since the AS/RS in this embodiment follows the random access principle, so
Figure BDA00022896017200001312
Figure BDA00022896017200001313

(b1)环线系统吞吐量(b1) Throughput of loop system

环线系统吞吐量为巷道车、提升机、环形输送线和拣选台的吞吐量的最小值,即The throughput of the loop system is the minimum of the throughput of the road car, hoist, loop conveyor and picking table, i.e.

τm2=min(τASLRW) (24)τ m2 =min(τ ASLRW ) (24)

式(24)中,τAS、τL、τW的求解与转载车系统相同。In formula (24), the solution of τ AS , τ L , and τ W is the same as that of the transfer vehicle system.

环形输送线的吞吐量为The throughput of the loop conveyor line is

Figure BDA0002289601720000141
Figure BDA0002289601720000141

(b2)环线系统订单完成周期(b2) Order Completion Cycle of Ring Line System

环线系统订单完成周期为巷道车、提升机、环形输送线和拣选台的服务时间与等待时间的总和,即The order completion cycle of the loop system is the sum of the service time and waiting time of the roadway car, hoist, loop conveyor line and picking table, namely

Figure BDA0002289601720000142
Figure BDA0002289601720000142

式中,由于

Figure BDA0002289601720000143
的求解In the formula, since
Figure BDA0002289601720000143
solution

与转载车系统相同,因此只需求解

Figure BDA0002289601720000144
Figure BDA0002289601720000145
即可。The same as the transfer car system, so only need to solve
Figure BDA0002289601720000144
and
Figure BDA0002289601720000145
That's it.

料箱从第i(1≤i≤l)个提升机进入第j(1≤j≤w)个拣选台的行走时间为The walking time of the material box from the ith (1≤i≤l) elevator to the jth (1≤j≤w) picking table is

Figure BDA0002289601720000146
Figure BDA0002289601720000146

式(27)中,li,j为环形输送线上第i个出库提升机口到第j个拣选台口的距离。In formula (27), l i,j is the distance from the i-th outbound elevator port to the j-th picking table port on the circular conveyor line.

环形输送线对单个料箱的服务时间为The service time of the circular conveyor line for a single material box is

Figure BDA0002289601720000147
Figure BDA0002289601720000147

料箱等待环形输送线服务的平均时间为The average time for a bin to wait for service on an endless conveyor is

Figure BDA0002289601720000148
Figure BDA0002289601720000148

式(29)中,λR和ρR分别为环形输送线的订单到达率和利用率,即λR=λ,

Figure BDA0002289601720000149
In formula (29), λ R and ρ R are the order arrival rate and utilization rate of the annular conveying line, respectively, that is, λ R =λ,
Figure BDA0002289601720000149

为验证转载车系统和环线系统模型的正确性,对两系统分别进行仿真。随机抽取某电商企业2018年中的6天订单数据,将订单到达时间拟合成泊松分布,通过Flexsim软件进行仿真。假设转载车系统和环线系统均有6个巷道,80列,10层,6个出/入库提升机,6个拣选台,其它系统参数如表1所示。In order to verify the correctness of the models of the reloading vehicle system and the loop system, the two systems are simulated respectively. The 6-day order data of an e-commerce company in 2018 is randomly selected, the order arrival time is fitted to a Poisson distribution, and the simulation is performed by Flexsim software. Assuming that both the reloading vehicle system and the loop system have 6 lanes, 80 columns, 10 floors, 6 out/in warehousing elevators, and 6 picking tables, other system parameters are shown in Table 1.

表1系统参数Table 1 System parameters

Figure BDA0002289601720000151
Figure BDA0002289601720000151

按照系统参数,建立转载车系统仿真模型,将系统的排队网络模型求解结果与仿真结果进行对比分析,如表2所示。According to the system parameters, the simulation model of the reloading vehicle system is established, and the solution results of the queuing network model of the system and the simulation results are compared and analyzed, as shown in Table 2.

表2转载车系统排队网络模型与仿真结果对比Table 2 Comparison between the queuing network model of the reloading vehicle system and the simulation results

Figure BDA0002289601720000152
Figure BDA0002289601720000152

在6组实验中,排队网络模型的最大吞吐量均为2068箱/小时,因此当订单到达率不大于2068箱/小时时,系统实际吞吐量等于订单到达率,反之等于最大吞吐量。在前5组实验中,排队网络模型与仿真结果中的实际吞吐量相同;第6组实验中,订单到达率达到系统最大吞吐量,二者的吞吐量差别仅为5.3%,因此可认为排队网络模型与仿真结果的吞吐量基本一致。同时,二者的订单完成周期差别为5.0%~6.1%,方差为5.60,可认为二者的订单完成周期一致。In the 6 groups of experiments, the maximum throughput of the queuing network model is 2068 boxes/hour, so when the order arrival rate is not greater than 2068 boxes/hour, the actual throughput of the system is equal to the order arrival rate, and vice versa is equal to the maximum throughput. In the first five groups of experiments, the queuing network model is the same as the actual throughput in the simulation results; in the sixth group of experiments, the order arrival rate reaches the maximum throughput of the system, and the throughput difference between the two is only 5.3%, so it can be considered that queuing The throughput of the network model is basically consistent with the simulation results. At the same time, the difference in the order completion cycle between the two is 5.0% to 6.1%, and the variance is 5.60. It can be considered that the order completion cycle of the two is the same.

综上所述,系统排队网络模型与仿真结果无显著差别。In summary, there is no significant difference between the system queuing network model and the simulation results.

步骤3:分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统。Step 3: Evaluate the optimal multi-layer shuttle system according to the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model when the number of layers and lanes are constant.

按照系统参数,建立环线系统仿真模型,将系统的排队网络模型求解结果与仿真结果进行对比分析,如表3所示。According to the system parameters, the simulation model of the loop system is established, and the solution results of the queuing network model of the system and the simulation results are compared and analyzed, as shown in Table 3.

在6组实验中,排队网络模型的最大吞吐量均为1800箱/小时,因此当订单到达率不大于1800箱/小时时,系统实际吞吐量等于订单到达率,反之等于最大吞吐量。在前5组实验中,排队网络模型与仿真结果中的实际吞吐量相同;第6组实验中,订单到达率达到系统最大吞吐量,二者的吞吐量差别仅为6.7%,因此可认为排队网络模型与仿真结果的吞吐量基本一致。同时,二者的订单完成周期差别为4.2%~6.6%,方差为4.96,可认为二者的订单完成周期一致。In the 6 sets of experiments, the maximum throughput of the queuing network model is 1800 boxes/hour, so when the order arrival rate is not greater than 1800 boxes/hour, the actual throughput of the system is equal to the order arrival rate, and vice versa is equal to the maximum throughput. In the first five groups of experiments, the queuing network model is the same as the actual throughput in the simulation results; in the sixth group of experiments, the order arrival rate reaches the maximum throughput of the system, and the throughput difference between the two is only 6.7%, so it can be considered that queuing The throughput of the network model is basically consistent with the simulation results. At the same time, the difference in the order completion cycle between the two is 4.2% to 6.6%, and the variance is 4.96. It can be considered that the order completion cycle of the two is the same.

表3环线系统排队网络模型与仿真结果对比Table 3 Comparison between the queuing network model of the ring line system and the simulation results

Figure BDA0002289601720000161
Figure BDA0002289601720000161

Figure BDA0002289601720000171
Figure BDA0002289601720000171

综上所述,系统排队网络模型与仿真结果无显著差别。In summary, there is no significant difference between the system queuing network model and the simulation results.

对转载车系统和环线系统进行吞吐量和订单完成周期分析,并对两系统进行比较。Throughput and order completion cycle analysis are carried out for the transfer vehicle system and the loop system, and the two systems are compared.

吞吐量比较分析:Throughput comparative analysis:

令τ*=min(τASLW),则两系统吞吐量可表示为τm1=min(τ*CAS)和τm2=min(τ*R)。当τCASR时,则τm1≤τm2成立;反之当τCASR时,则τm1≥τm2成立,因此可将两系统吞吐量比较问题转化为转载车和环形输送线吞吐量比较问题。由τCAS和τR的数学求解模型可知,在巷道宽度一定的情况下,τCAS与货架层数、巷道数有关;而τR仅与环形输送线速度相关。Let τ * =min(τ ASLW ), then the throughput of the two systems can be expressed as τ m1 =min(τ *CAS ) and τ m2 =min(τ *R ). When τ CASR , then τ m1 ≤τ m2 is established; on the contrary, when τ CASR , then τ m1 ≥τ m2 is established, so the throughput comparison problem of the two systems can be transformed into a transfer vehicle and a circular conveyor line Throughput comparison problem. From the mathematical solution model of τ CAS and τ R , it can be known that under the condition of a certain roadway width, τ CAS is related to the number of shelf layers and roadways; while τ R is only related to the speed of the circular conveyor line.

在环线系统中,当环形输送线速度为定值0.5米/秒时,可得到环形输送线吞吐量为1800箱/时。在转载车系统中,将货架层数由3增至20,巷道数由2增至10,由τCAS数学模型可知,τCAS可得到162种结果。162种τCAS和τR的对比结果,如图7所示,其中圆圈表示τCASR,即τm1≤τm2;星号表示τCASR,即τm1≥τm2In the loop line system, when the speed of the loop conveyor line is a fixed value of 0.5 m/s, the throughput of the loop conveyor line can be obtained as 1800 boxes/hour. In the transshipment vehicle system, the number of shelf layers is increased from 3 to 20, and the number of lanes is increased from 2 to 10. According to the mathematical model of τ CAS , τ CAS can obtain 162 kinds of results. The comparison results of 162 kinds of τ CAS and τ R are shown in Figure 7, where the circles indicate τ CASR , that is, τ m1 ≤τ m2 ; the asterisks indicate that τ CASR , that is, τ m1 ≥τ m2 .

由图7可知:It can be seen from Figure 7 that:

(1)当巷道数固定,层数从3变化到20时,τCAS呈上升趋势;巷道数越小,τCAS随层数的递增上升趋势越明显。当层数固定,巷道数从2变化到10时,τCAS呈下降趋势;层数越大,τCAS随巷道数的递增下降趋势越明显。(1) When the number of roadways is fixed and the number of layers changes from 3 to 20, τ CAS presents an upward trend; the smaller the number of roadways, the more obvious the upward trend of τ CAS with the increase of the number of layers. When the number of layers is fixed and the number of roadways changes from 2 to 10, τ CAS presents a downward trend; the greater the number of layers, the more obvious the downward trend of τ CAS with the increase of the number of roadways.

(2)层数为[3,5]时,τCAS在(465,1547)之间,τm1小于等于τm2,环线系统更优;当层数由6增到11时,τm1≤τm2占的比例逐渐变小;当层数为[12,20]时,τCAS在(1863,6189)之间,τm1大于τm2,转载车系统更优。因此,层数越低,环线系统优势越大;层数越高,转载车系统优势越大。(2) When the number of layers is [3,5], τ CAS is between (465, 1547), τ m1 is less than or equal to τ m2 , and the loop system is better; when the number of layers increases from 6 to 11, τ m1 ≤τ The proportion of m2 gradually decreases; when the number of layers is [12, 20], τ CAS is between (1863, 6189), τ m1 is greater than τ m2 , and the reloading vehicle system is better. Therefore, the lower the number of layers, the greater the advantage of the loop system; the higher the number of layers, the greater the advantage of the reloading vehicle system.

(3)当巷道数由2变至10时,随着巷道数的增加,τm1≤τm2占的比例逐渐变大,环线系统优势越来越大。因此,巷道数较少时,转载车系统更优;巷道数较多时,环线系统更优。(3) When the number of lanes changes from 2 to 10, with the increase of the number of lanes, the proportion of τ m1 ≤ τ m2 gradually increases, and the advantage of the loop system becomes larger and larger. Therefore, when the number of roadways is small, the transfer vehicle system is better; when the number of roadways is large, the loop system is better.

转载车系统和环线系统的订单完成周期差值为

Figure BDA0002289601720000181
因此可将两系统订单完成周期的比较问题转化为转载车和环形输送线作业时间(服务时间和等待时间之和)比较问题。由转载车和环形输送线作业时间的数学求解模型可知,tm1与tm2的差值与订单到达率、货架层数、巷道数有关。The difference between the order completion period of the reloading vehicle system and the loop line system is
Figure BDA0002289601720000181
Therefore, the comparison problem of the order completion cycle of the two systems can be transformed into the comparison problem of the operation time (sum of service time and waiting time) of the transfer vehicle and the circular conveyor line. From the mathematical solution model of the operation time of the reloading vehicle and the circular conveyor line, it can be known that the difference between t m1 and t m2 is related to the order arrival rate, the number of shelf layers, and the number of lanes.

在订单到达率由0增至2000(变化间隔为500)订单/时,巷道数量由2增至10,层数由3增至20时,计算tm1-tm2。若tm1-tm2<0,在图8中用星号表示;反之用圆圈表示,经实验得到960条数据,实验结果如图8(a)~8(d)所示。When the order arrival rate increases from 0 to 2000 (the change interval is 500) orders/hour, the number of lanes increases from 2 to 10, and the number of layers increases from 3 to 20, calculate t m1 -t m2 . If t m1 -t m2 <0, it is represented by an asterisk in Figure 8; otherwise, it is represented by a circle, and 960 pieces of data are obtained through experiments, and the experimental results are shown in Figures 8(a) to 8(d).

分析图8(a)~8(d)可知:Analysis of Figures 8(a) to 8(d) shows that:

(1)tm1>tm2的数据在8(a)~8(d)四幅图中的比例分别为:40%、40.74%、0%和4.17%。其中,8(a)与8(b)中比例相近,8(c)与8(d)中比例相近。(1) The proportions of data with t m1 >t m2 in the four graphs 8(a) to 8(d) are: 40%, 40.74%, 0% and 4.17%, respectively. Among them, the ratios of 8(a) and 8(b) are similar, and the ratios of 8(c) and 8(d) are similar.

(2)比较8(a)与8(c)可知:在巷道数和订单到达率一定的情况下,层数越多,转载车系统订单完成周期越短。对比8(b)与8(d)可得出相同结论。(2) Comparing 8(a) and 8(c), it can be seen that when the number of lanes and the order arrival rate are constant, the more layers, the shorter the order completion cycle of the reloading vehicle system. Comparing 8(b) and 8(d) leads to the same conclusion.

(3)比较8(a)和8(b)可知:在层数和巷道数一定的情况下,订单到达率越大,环线系统订单完成周期越短。(3) Comparing 8(a) and 8(b), we can see that when the number of floors and lanes is constant, the greater the order arrival rate, the shorter the order completion cycle of the loop system.

(4)将8(a)和8(b),8(c)和8(d)分别进行比较可知:在层数和订单到达率一定的情况下,巷道数对两系统作业时间的影响表现不明显,这是由于巷道数对转载车作业时间和环形输送线作业时间均有影响,且影响程度差别较小。(4) Comparing 8(a) and 8(b), 8(c) and 8(d) respectively, we can see that when the number of floors and the order arrival rate are constant, the effect of the number of lanes on the operating time of the two systems is shown. It is not obvious, this is because the number of lanes has an influence on the operation time of the transfer vehicle and the operation time of the circular conveyor line, and the difference in the degree of influence is small.

本实施例首先建立两个系统的开环排队网络模型,然后求解系统吞吐量、订单完成周期,分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统,降低了企业决策层初始化决策成本,减少了人力物力的投入成本,提高了多层穿梭车系统评估的准确性。In this embodiment, the open-loop queuing network models of the two systems are first established, and then the system throughput and order completion period are calculated. Under the condition that the number of layers and the number of lanes are constant, the corresponding throughput and In the order completion cycle, the optimal multi-storey shuttle system is evaluated, which reduces the initial decision-making cost of the enterprise decision-making layer, reduces the input cost of manpower and material resources, and improves the accuracy of the multi-storey shuttle system evaluation.

实施例2Example 2

如图9所示,本实施例提供了一种多层穿梭车系统性能评估装置,其包括:As shown in FIG. 9 , the present embodiment provides a device for evaluating the performance of a multi-layer shuttle vehicle system, which includes:

(1)开环排队网络模型建立模块,其用于分别建立转载车系统开环排队网络模型和环线系统开环排队网络模型;(1) A module for establishing an open-loop queuing network model, which is used to respectively establish an open-loop queuing network model of a transshipment vehicle system and an open-loop queuing network model of a loop line system;

具体地,在所述开环排队网络模型建立模块中,转载车系统开环排队网络模型和环线系统开环排队网络模型均在以下假设条件下构建的:Specifically, in the open-loop queuing network model establishment module, the open-loop queuing network model of the reloading vehicle system and the open-loop queuing network model of the loop line system are both constructed under the following assumptions:

料箱回库时,遵循随机货位分配策略;When the material box is returned to the warehouse, follow the random location allocation strategy;

可移动系统设备即巷道车、转载车和提升机的停靠点为上次出入库作业完成点;The stop point of the movable system equipment, that is, the roadway vehicle, the transfer vehicle and the hoist, is the completion point of the last entry and exit operation;

订单服从先到先服务原则;Orders are subject to the principle of first come, first served;

订单到达服从泊松分布;Order arrival obeys Poisson distribution;

拣选台服务时间为常数,可移动系统设备服务时间遵循一般分布;The service time of the picking table is constant, and the service time of the mobile system equipment follows the general distribution;

输送缓存区容量足够大;The capacity of the conveying buffer area is large enough;

一个料箱仅存放一种商品,一种商品也仅存放在一个料箱里。A material box stores only one kind of commodity, and a kind of commodity is only stored in one material box.

(2)性能参数计算模块,其用于基于转载车系统开环排队网络模型和环线系统开环排队网络模型分别计算相应开环排队网络模型对应的吞吐量和订单完成周期;(2) A performance parameter calculation module, which is used to calculate the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model based on the open-loop queuing network model of the transshipment vehicle system and the open-loop queuing network model of the loop line system, respectively;

在所述性能参数计算模块中,转载车系统吞吐量为巷道车、转载车、提升机和拣选台四种设备吞吐量的最小值;In the performance parameter calculation module, the throughput of the transfer vehicle system is the minimum value of the throughputs of the four types of equipment: the roadway vehicle, the transfer vehicle, the hoist and the picking table;

转载车系统订单完成周期为服务机构的服务时间与等待时间的总和;其中,服务机构包括巷道车、转载车、提升机和拣选台;利用波拉泽克-辛钦公式得出服务机构的队长和等待时间。The order completion cycle of the reloading vehicle system is the sum of the service time and the waiting time of the service organization; among them, the service organization includes roadway vehicles, reloading vehicles, elevators and picking tables; the captain of the service organization is obtained by using the Polazek-Sinchin formula and waiting time.

在所述性能参数计算模块中,环线系统吞吐量为巷道车、提升机、环形输送线和拣选台的吞吐量的最小值;In the performance parameter calculation module, the throughput of the loop system is the minimum value of the throughput of the roadway car, the hoist, the loop conveying line and the picking table;

环线系统订单完成周期为巷道车、提升机、环形输送线和拣选台的服务时间与等待时间的总和。The order completion cycle of the loop system is the sum of the service time and waiting time of the roadway car, hoist, loop conveyor and picking table.

(3)最优多层穿梭车系统评估模块,其用于分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统。(3) The evaluation module of the optimal multi-storey shuttle car system, which is used to evaluate the optimal multi-layer shuttle system according to the throughput and order completion cycle corresponding to the corresponding open-loop queuing network model under the condition that the number of layers and the number of lanes are certain. Multi-level shuttle system.

本实施例首先建立两个系统的开环排队网络模型,然后求解系统吞吐量、订单完成周期,分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统,降低了企业决策层初始化决策成本,减少了人力物力的投入成本,提高了多层穿梭车系统评估的准确性。In this embodiment, the open-loop queuing network models of the two systems are first established, and then the system throughput and order completion period are calculated. Under the condition that the number of layers and the number of lanes are constant, the corresponding throughput and In the order completion cycle, the optimal multi-storey shuttle system is evaluated, which reduces the initial decision-making cost of the enterprise decision-making layer, reduces the input cost of manpower and material resources, and improves the accuracy of the multi-storey shuttle system evaluation.

实施例3Example 3

本实施例提供一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现如图1所示的多层穿梭车系统性能评估方法中的步骤。This embodiment provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps in the method for evaluating the performance of a multi-level shuttle system as shown in FIG. 1 .

本实施例首先建立两个系统的开环排队网络模型,然后求解系统吞吐量、订单完成周期,分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统,降低了企业决策层初始化决策成本,减少了人力物力的投入成本,提高了多层穿梭车系统评估的准确性。In this embodiment, the open-loop queuing network models of the two systems are firstly established, and then the system throughput and order completion period are calculated. Under the condition that the number of layers and the number of lanes are constant, the corresponding throughput and In the order completion cycle, the optimal multi-storey shuttle system is evaluated, which reduces the initial decision-making cost of the enterprise decision-making layer, reduces the input cost of manpower and material resources, and improves the accuracy of the multi-storey shuttle system evaluation.

实施例4Example 4

本实施例提供一种计算机设备,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,所述处理器执行所述程序时实现如图1所示的多层穿梭车系统性能评估方法中的步骤。This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor, when the processor executes the program, the multi-level shuttle as shown in FIG. 1 is implemented. Steps in a System Performance Evaluation Method.

本实施例首先建立两个系统的开环排队网络模型,然后求解系统吞吐量、订单完成周期,分别在层数和巷道数一定的情况下,根据相应开环排队网络模型对应的吞吐量和订单完成周期,评估出最优的多层穿梭车系统,降低了企业决策层初始化决策成本,减少了人力物力的投入成本,提高了多层穿梭车系统评估的准确性。In this embodiment, the open-loop queuing network models of the two systems are first established, and then the system throughput and order completion period are calculated. Under the condition that the number of layers and the number of lanes are constant, the corresponding throughput and In the order completion cycle, the optimal multi-storey shuttle system is evaluated, which reduces the initial decision-making cost of the enterprise decision-making layer, reduces the input cost of manpower and material resources, and improves the accuracy of the multi-storey shuttle system evaluation.

本领域内的技术人员应明白,本公开的实施例可提供为方法、系统、或计算机程序产品。因此,本公开可采用硬件实施例、软件实施例、或结合软件和硬件方面的实施例的形式。而且,本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.

本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程,是可以通过计算机程序来指令相关的硬件来完成,所述的程序可存储于一计算机可读取存储介质中,该程序在执行时,可包括如上述各方法的实施例的流程。其中,所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(RandomAccessMemory,RAM)等。Those of ordinary skill in the art can understand that the realization of all or part of the processes in the methods of the above embodiments can be accomplished by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

以上所述仅为本公开的优选实施例而已,并不用于限制本公开,对于本领域的技术人员来说,本公开可以有各种更改和变化。凡在本公开的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本公开的保护范围之内。The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included within the protection scope of the present disclosure.

Claims (4)

1. A multi-layer shuttle system performance evaluation method is characterized by comprising the following steps:
respectively establishing an open-loop queuing network model of a transfer car system and an open-loop queuing network model of a loop system; the open-loop queuing network model of the transfer car system and the open-loop queuing network model of the loop system are both constructed under the following assumed conditions:
(1) when the material box returns to the warehouse, a random goods space distribution strategy is followed;
(2) stopping points of movable system equipment, namely a roadway vehicle, a transfer vehicle and a hoist, are finishing points of the last warehouse-in and warehouse-out operation;
(3) the order obeys a first-come first-serve principle;
(4) the order arrival obeys poisson distribution;
(5) the service time of the sorting table is constant, and the service time of the mobile system equipment follows general distribution;
(6) the capacity of the transmission buffer area is large enough;
(7) one bin is used for storing only one commodity, and one commodity is also stored in one bin;
respectively calculating the throughput and the order completion period corresponding to the corresponding open-loop queuing network model based on the open-loop queuing network model of the transfer car system and the open-loop queuing network model of the loop line system; the throughput of the transfer car system is the minimum value of the throughputs of the four devices, namely the laneway car, the transfer car, the elevator and the sorting table;
the order completion period of the transfer car system is the sum of the service time and the waiting time of the service mechanism; the service mechanism comprises a roadway vehicle, a transfer vehicle, a lifter and a sorting table; obtaining the captain and the waiting time of the service organization by utilizing a Pollacker-Sinkian formula;
the throughput of the loop system is the minimum value of the throughputs of the roadway vehicle, the elevator, the annular conveying line and the sorting table;
the order completion period of the loop system is the sum of the service time and the waiting time of the roadway vehicle, the elevator, the annular conveying line and the sorting table;
and under the condition that the number of layers and the number of roadways are fixed, evaluating the optimal multilayer shuttle system according to the throughput and the order completion period corresponding to the corresponding open-loop queuing network model.
2. A multi-layer shuttle system performance evaluation device is characterized by comprising:
the open-loop queuing network model establishing module is used for respectively establishing an open-loop queuing network model of the transfer car system and an open-loop queuing network model of the loop system; the switched vehicle system open-loop queuing network model and the loop line system open-loop queuing network model are both constructed under the following assumed conditions:
(1) when the material box returns to the warehouse, a random goods space allocation strategy is followed;
(2) stopping points of movable system equipment, namely a roadway vehicle, a transfer vehicle and a hoist, are finishing points of the last warehouse-in and warehouse-out operation;
(3) the order obeys a first come first serve principle;
(4) order arrival obeys poisson distribution;
(5) the service time of the sorting table is constant, and the service time of the mobile system equipment follows general distribution;
(6) the capacity of the transmission buffer area is large enough;
(7) one bin is used for storing only one commodity, and one commodity is also stored in one bin;
the performance parameter calculation module is used for respectively calculating the throughput and the order completion period corresponding to the corresponding open-loop queuing network model based on the switched vehicle system open-loop queuing network model and the loop line system open-loop queuing network model; the throughput of the transfer car system is the minimum value of the throughputs of the four devices, namely the laneway car, the transfer car, the elevator and the sorting table;
the order completion period of the transfer car system is the sum of the service time and the waiting time of the service mechanism; the service mechanism comprises a roadway vehicle, a transfer vehicle, a lifter and a sorting table; obtaining the captain and the waiting time of the service organization by utilizing a Pollacker-Sinkian formula;
the throughput of the loop system is the minimum value of the throughputs of the roadway vehicle, the elevator, the annular conveying line and the sorting table;
the order completion period of the loop system is the sum of the service time and the waiting time of the roadway vehicle, the elevator, the annular conveying line and the sorting table;
and the optimal multilayer shuttle system evaluation module is used for evaluating the optimal multilayer shuttle system according to the throughput and the order completion period corresponding to the corresponding open-loop queuing network model under the condition of certain layer number and roadway number.
3. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the steps in the multi-layer shuttle system performance evaluation method according to claim 1.
4. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for evaluating the performance of a multi-layer shuttle system according to claim 1 when executing the program.
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