CN111994535A - Warehousing storage position scheduling method suitable for vertical warehouse storage system - Google Patents

Warehousing storage position scheduling method suitable for vertical warehouse storage system Download PDF

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CN111994535A
CN111994535A CN201910444773.1A CN201910444773A CN111994535A CN 111994535 A CN111994535 A CN 111994535A CN 201910444773 A CN201910444773 A CN 201910444773A CN 111994535 A CN111994535 A CN 111994535A
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storage
shelf
vertical
optimal
warehousing
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CN111994535B (en
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华聚良
谢成伟
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Jiangsu Huazhang Logistics Technology Co ltd
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Jiangsu Huazhang Logistics Technology Co ltd
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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
    • 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

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  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides a warehousing storage position scheduling method suitable for a vertical warehousing system, which comprises the following steps: and the vertical warehouse storage system responds to the storage task and determines the optimal vertical warehouse according to the number of the warehousing containers. An optimal shelf is determined in response to the container reaching the entrance of the optimal vertical store. In response to the container reaching the entrance of the optimal shelf, an optimal storage level for the container is determined. And (5) transporting the container to the corresponding optimal storage position to finish warehousing. According to the ex-warehouse scheduling method, the storage of the vertical warehouse storage system is carried out according to the optimized rule through the optimized storage algorithm, so that the utilization rate of the storage of the vertical warehouse is improved; the container can be stored to the storage position far away from the RGV running channel without moving the storage position, so that the warehousing efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse warehousing system is prolonged; because the containers are stored according to the optimized rule during warehousing, the containers do not need to be carried out by driving longer unnecessary distances during warehousing, and the warehousing-out efficiency is improved.

Description

Warehousing storage position scheduling method suitable for vertical warehouse storage system
Technical Field
The invention relates to the technical field of warehousing, in particular to a warehousing storage position scheduling method suitable for a vertical warehouse storage system.
Background
In recent years, with the rapid development of technologies such as computers and sensors, the application of the automated warehouse logistics technology has also advanced at a rapid pace. At present, the method is very applied to the fields of medicine, books, e-commerce and the likeIs wide in application. When an existing automatic vertical warehouse storage system carries out order warehousing (container storage), due to the fact that too many storage positions exist, and multiple positions also exist in the storage positions of a three-dimensional warehouse, if a certain storage rule does not exist, a container can be sent to any storage position of the three-dimensional warehouse, the utilization rate of the storage positions of the vertical warehouse is not high, and resource waste is caused. As another example, the previous container is first stored in a storage location (FIG. 2, numbered Length) adjacent to the RGV travel path (FIG. 2, numbered 7)1,2Such that the latter container is stored, if necessary, in a storage location (numbered Length in fig. 2) remote from the RGV travel path (numbered 7 in fig. 2), such that the latter container is stored, if necessary, in a storage location (numbered Length in fig. 2) remote from the RGV travel path (numbered 7 in fig. 2)3,2The storage location), the previous container needs to be moved first and then the next container is stored, and then the previous container is moved to the original storage location, so that the step of moving the previous container twice is added, the storage efficiency is low, and the service life of the RGV is also influenced; meanwhile, if the containers are randomly stored when being put in storage when being taken out of the storage, a storage position (as shown in figure 2, the number is Length) far away from the shelf entrance (the container exit) existsi,nStorage location) the RGV needs to travel a longer unnecessary distance to carry the container out, which is inefficient in delivery and can affect the service life of the RGV.
Disclosure of Invention
The invention aims to provide a warehousing storage position scheduling method suitable for a vertical warehouse storage system, which enables the vertical warehouse storage system to be stored according to an optimized rule when warehousing through an optimized storage position algorithm, improves the utilization rate of the vertical warehouse storage position, and saves the vertical warehouse storage resources; the container can be stored to the storage position far away from the RGV running channel without moving the storage position, so that the warehousing efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse warehousing system is prolonged; because the containers are stored according to the optimized rule during warehousing, the containers do not need to be carried out by driving longer unnecessary distance during warehousing, the warehousing efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse storage system is further prolonged.
The above object of the invention is achieved by the features of the independent claims, the dependent claims developing the features of the independent claims in alternative or advantageous ways.
In order to achieve the above object, the present invention provides a method for scheduling warehousing storage locations for a vertical warehousing system, the method comprising the steps of:
s100, the vertical warehouse storage system responds to the storage task and determines the optimal vertical warehouse according to the number of the storage containers;
s200, responding to the container reaching the entrance of the optimal vertical warehouse, and determining an optimal shelf;
s300, responding to the container reaching the entrance of the optimal shelf, determining the optimal storage position of the container;
s400, the container is conveyed to the corresponding optimal storage position, and warehousing is completed.
In a further embodiment, the number of the vertical library is set to be k, where k is a positive integer, and the determining the optimal vertical library in step S100 specifically includes:
s110, sequentially judging whether the vertical warehouse is the optimal vertical warehouse according to the sequence of the vertical warehouses through which the containers will pass; the specific judgment formula is as follows:
Shuttlek=Ak-B；
in the formula, AkRepresenting the number of real-time idle storage bits of the vertical library with the number k, B representing the number of warehousing containers, ShuttlekRepresenting the number of estimated remaining idle storage bits of the vertical library with the number k;
s111 predicting the number of the residual idle storage bits Shuttle when the library is establishedkGreater than the minimum residual idle storage threshold value Store of the vertical warehouseminIf so, the vertical library with the number k is the optimal vertical library, and the step S200 is entered;
s112 predicting the number of the residual idle storage bits Shuttle when the library is establishedkLess than or equal to the minimum residual idle storage position threshold Store of the vertical warehouseminIf yes, step S110 is repeated until the best vertical library is found, and the process proceeds to step S200.
In a further embodiment, the minimum remaining free reserve threshold Store of the vertical libraryminThe calculation formula of (2) is as follows:
Result= Len/ (S+ 1)；
Storemin= Result* ;
in the formula, Len represents a longitudinal length value of the vertical library, S represents a continuous storage value of adjacent storage, and Len and S are positive integers; result is quotient and positive integer; storeminRepresenting the minimum residual idle storage bit threshold value of the vertical warehouse; representing the position value of the vertical library.
In a further embodiment, the determining the optimal shelf in step S200 specifically includes: and determining the shelf with the largest number of real-time idle storage positions as the optimal shelf, and entering the step S300.
In a further embodiment, the shelf number is set to j, j is a positive integer, and Lay is set tojIndicating the number of real-time empty slots of the shelf numbered j,
the determination of the optimal shelf in step S200 specifically includes:
s210, sequentially judging whether the goods shelves are the optimal goods shelves according to the sequence of the goods shelves from low to high;
s211 real-time idle storage space number Lay on shelfjIs greater than the minimum remaining idle storage level threshold value Layer of the goods shelfminIf yes, the shelf with the number j is the best vertical warehouse, and the process goes to step S300;
s212 real-time idle storage space number Lay on shelfjLess than or equal to the minimum remaining idle storage level threshold value Layer of the goods shelfminIf yes, the step S210 is repeated until the best shelf is found, and the process proceeds to the step S300.
In a further embodiment, the minimum remaining empty level threshold Layer of the shelfminThe calculation formula of (2) is as follows:
Layermin=Storemin/C；
in the formula, StoreminC, representing the minimum remaining idle storage position threshold value of the vertical warehouse, and representing the total number of layers of shelves of the vertical warehouse; layerminAnd taking a positive integer as a quotient to represent the minimum remaining free storage space threshold value of the goods shelf.
In a further embodiment, the column number of the storage position of each layer of shelf is set as n, the row number of the storage position of each layer of shelf is set as i, n and i are positive integers,
the determining of the optimal storage location of the container in step S300 specifically includes:
s310, sequentially judging whether the idle storage bit is the optimal storage bit according to the sequence of the row number i of the idle storage bit from large to small and then according to the sequence of the column number n of the idle storage bit from small to large; the specific judgment formula is as follows:
Positioni,n= Lengthi,n % ( S + 1 )；
in the formula, Lengthi,nA number indicating a bin of the ith row and the nth column, and a Lengthi,n=n，Lengthi,nIs a positive integer; s represents a continuous storage value of adjacent storage, and is a positive integer; positioni,nIs the remainder;
s311 when Positioni,nIf not, it indicates the Lengthi,nThe storage position of (2) is the optimal storage position, and the step S400 is entered;
s312 when Positioni,nIf the bit number is equal to 0, the step S310 is repeated until the best bit is found, and the process proceeds to step S400.
Compared with the prior art, the invention has the following remarkable advantages: by the optimized storage algorithm, the vertical warehouse storage system is stored according to the optimized rule when being put in storage, so that the utilization rate of the storage of the vertical warehouse is improved, and the storage resources of the vertical warehouse are saved; the container can be stored to the storage position far away from the RGV running channel without moving the storage position, so that the warehousing efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse warehousing system is prolonged; because the containers are stored according to the optimized rule during warehousing, the containers do not need to be carried out by driving longer unnecessary distance during warehousing, the warehousing efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse storage system is further prolonged.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic flow chart of a warehousing storage location scheduling method suitable for a vertical warehousing system according to a preferred embodiment of the present invention.
Fig. 2 is a schematic layout of the shelf according to the preferred embodiment of the present invention.
FIG. 3 is a schematic layout of the library according to a preferred embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Here, the library system will be briefly explained first: as shown in fig. 2 and fig. 3, the vertical warehouse warehousing system includes a plurality of vertical warehouses 2, and containers 1 to be warehoused (containers of any structure such as turnover boxes, pallets, cartons and the like) move in a single direction on a conveyor line 8 arranged among the vertical warehouses 2. Each of the stands 2 has at least one shelf 3 having a plurality of layers. In the present embodiment, each store 2 has two shelves 3 of plural layers; the two goods shelves 3 are oppositely arranged, and a longitudinal channel 7 is reserved in the middle for the RGV trolley 4 to run. Each layer of racks 3 has a plurality of storage locations 5 and has an RGV car 4, the RGV car 4 being used for handling, storing and/or retrieving containers 1. Each storage position 5 can store one container 1, according to the actual scheduling requirement, for example, when the container 1 on the storage position 5 far away from the RGV driving channel 7 needs to be taken out during the delivery, the container 1 on the storage position 5 near the RGV driving channel 7 corresponding to the storage position 5 needs to be moved to the transfer storage position first, and then the container 1 on the storage position 5 far away from the RGV driving channel 7 needs to be taken out, therefore, the vertical warehouse must be provided with a proper number of transfer storage positions, and the transfer storage positions cannot be used for normal storage. Therefore, the container 1 to be put in storage can only be stored in a free storage position other than the transfer storage position, and how to optimize the storage rule is explained in detail below.
Referring to fig. 1, fig. 2 and fig. 3, a method for scheduling storage space in a vertical warehouse system includes the steps of: and generating a warehousing order by an OPS of the vertical warehouse storage system, and issuing the warehousing order to the WCS. And the WCS receives the warehousing order, conveys the container 1 corresponding to the warehousing order to the conveying line 8, moves in one direction on the conveying line 8, and issues a storage task.
And S100, responding to the storage task by the vertical warehouse storage system, and determining the optimal vertical warehouse according to the number of the warehousing containers. The number of the vertical base 2 is set as k, and k is a positive integer. In this embodiment, the vertical banks are numbered sequentially in the positive order as shown in fig. 3.
The determination of the optimal vertical library specifically comprises the following steps:
s110 sequentially determines whether or not the vertical warehouse 2 is the optimum vertical warehouse in accordance with the order of the vertical warehouses to be passed by the container 1 (as shown in fig. 3).
The specific judgment formula is as follows: shuttlek=Ak-B。
In the formula, AkThe number of real-time idle storage positions of the vertical warehouse 2 with the number k is shown, B is the number of warehouse-in containers, ShuttlekIndicating the estimated number of remaining free slots for the bank 2 numbered k.
S111 predicting the number of the residual idle storage bits Shuttle when the library is establishedkGreater than verticalMinimum residual idle storage bit threshold Store of libraryminIf so, the user indicates that the bank 2 with the number k is the optimum bank, and the process proceeds to step S200.
S112 predicting the number of the residual idle storage bits Shuttle when the library is establishedkLess than or equal to the minimum residual idle storage position threshold Store of the vertical warehouseminIf so, the vertical library 2 with the number k is not the optimal vertical library, and the step S110 is repeated and the like; until the best vertical library is found, the process proceeds to step S200.
The foregoing steps will now be exemplified, for example, if a storage task within a time period includes 50 containers 1, then B = 50; as shown in fig. 2, the container 1 in the first row among the 50 containers 1 will pass through the vertical warehouse 2 with the number 3, and then it is determined whether the vertical warehouse 2 with the number 3 is the best vertical warehouse, and at this time, the number of real-time free storage positions of the vertical warehouse 2 with the number 3 is 70, that is, a3=70, then the estimated number of remaining free slots Shuttle for bank 2 with number 33= 20. When StoreminIf "= 20", this means that the bank 2 with the number 3 is not the optimum bank, step S110 is repeated to determine whether the bank 2 with the number 4 is the optimum bank, and if the number of real-time free slots of the bank 2 with the number 4 is 80 at this time, a means that the number of real-time free slots is equal to or greater than a4=80, then the estimated number of remaining free slots Shuttle for bank 2 numbered 44= 30. When StoreminIf =20, it indicates that the bank 2 with the number 4 is the optimum bank, and the process proceeds to step S200. And so on, and no further description is given.
S200 determines an optimal shelf in response to the container 1 reaching the entrance of the optimal vertical library. The specific determination of the optimal shelf is as follows: the shelf 3 with the largest number of real-time empty storage spaces is determined as the optimum shelf, and the process proceeds to step S300. For example, when a certain container 1 needs to be stored, the number of real-time free storage spaces of the shelf 3 at the 4 th layer is the largest, and the shelf 3 at the fourth layer is the best shelf.
S300 as shown in fig. 2, in response to the container 1 reaching the entrance 6 of the optimal shelf (this entrance 6 is also the exit from the warehouse), the optimal storage level for the container 1 is determined.
The determination of the optimal storage position of the container 1 in step S300 specifically includes:
the column number of the storage position 5 of each layer of goods shelf 3 is set as n, the row number of the storage position 5 of each layer of goods shelf 3 is set as i, and n and i are positive integers. The row of the storage position 5 is defined to be parallel to the RGV trolley travel channel 7 (as shown in the Y direction of FIG. 2), the row number of the storage position 5 closest to the RGV trolley travel channel 7 is 1, the row number of the storage position 5 second closest to the RGV trolley travel channel 7 is 2, and so on. The row of the storage positions 5 is defined to be vertical to the RGV trolley travel channel 7 (such as the X direction of figure 2), the row number of the storage position 5 closest to the shelf entrance 6 is 1, the row number of the storage position 5 next closest to the shelf entrance 6 is 2, and the like.
S310, as shown in FIG. 2, sequentially judging whether the idle bit is the best bit according to the sequence of the row number i of the idle bit from large to small and then according to the sequence of the column number n of the idle bit from small to large. Namely, the idle storage position in the row farthest from the RGV trolley traveling channel 7 is selected for judgment, the idle storage position in the row closest to the goods shelf inlet 6 is selected for judgment, and the rest is repeated.
The specific judgment formula is as follows: positioni,n= Lengthi,n % ( S + 1 )；
In the formula, Lengthi,nA number indicating a bin of the ith row and the nth column, and a Lengthi,n= n; s represents a continuous storage value of adjacent stored objects (namely a continuous storage value of adjacent stored objects between two transfer storage positions), and S is a positive integer; positioni,nIs the remainder.
The specific value of the continuously stored value of the adjacent storage positions in the formula can be freely changed according to the storage position utilization rate of the actual demand, the larger the value of S is, the more containers can be stored in the current vertical warehouse, the higher the storage position utilization rate is, and the lower the warehouse moving efficiency is. On the contrary, the smaller the value of S, the fewer containers that can be stored in the current vertical warehouse, and the utilization rate of the storage location is not high, but the efficiency of moving the warehouse will increase, and certainly the efficiency of entering and exiting the warehouse will also increase. Those skilled in the art will appreciate that many modifications are possible in light of the above teaching.
S311 when Positioni,nIf not, it indicates the Lengthi,nThe storage position 5 is the optimal storage position, and the step S400 is entered;
s312 when Positioni,nWhen 0 is equal to 0, it represents a numberIs Lengthi,nIf the storage position 5 is not the optimal storage position, the step S310 is repeated until the optimal storage position is found, and the process proceeds to the step S400.
To illustrate the foregoing steps, if the total number of rows of the rack storage 5 is 3 rows, as shown in FIG. 2, the empty storage position closest to the rack entry 6 in the row 5 with row number 3 is in column 3; therefore, the number is first Length3，3Judging the idle storage position; length3，3= 3; when S =2, Position3,3= 0; then the number is Length3，3Is not the best bin but the transfer bin, step S310 is repeated. Sequentially judging according to the sequence, if all the free storage positions with the row number of 3 are not the optimal storage positions, selecting the storage position 5 with the row number of 2 for judgment, and if the free storage position closest to the shelf inlet 6 in the storage position 5 with the row number of 2 is in the 14 th column, then judging the Length number2，14Judging the idle storage position; length2,14= 14; when S =2, Position2,14= 2; then the number is Length2,14The idle bin is the optimal bin, and the process proceeds to step S400. And so on, and no further description is given.
S400, the container 1 is conveyed to the corresponding optimal storage position, and warehousing is completed.
Therefore, the storage space algorithm is optimized, so that the vertical warehouse storage system stores (determines the optimal vertical warehouse, the optimal shelf and the optimal storage space) according to the optimized rule when entering the warehouse, the storage space utilization rate of the vertical warehouse 2 is improved, and the storage resources of the vertical warehouse are saved. Since the idle storage position in the row farthest from the RGV trolley traveling channel 7 is preferentially judged to determine the optimal storage position, and all containers are stored in the storage position according to the rule, the occupied storage position close to the RGV trolley traveling channel 7 (as shown in FIG. 2, the number is Length) does not need to be moved first1,2A reservoir) can be stored directly to a reservoir (numbered Length in fig. 2) remote from the RGV travel channel 73,2Storage location of the prior art), the technical problem of the background art is solved, the warehousing efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse storage system is prolonged (as mentioned in the background art, twice movement is added in the prior artThe previous container step, reducing the hardware lifetime). In addition, the storage position closest to the shelf inlet 6 is selected from the storage positions in one row far away from the RGV driving channel 7 to be judged to determine the optimal storage position, so that the container 1 is carried out without driving longer unnecessary distance during delivery, the delivery efficiency is improved, and the service life of hardware (especially RGV) of the vertical warehouse storage system is further prolonged.
Preferably, the minimum remaining idle storage level threshold Store of the vertical warehouseminThe calculation formula of (2) is as follows:
Result= Len/ (S+ 1)；
Storemin= Result* 。
in the formula, Len represents a longitudinal length value of the stand 2 (defining that the longitudinal direction is parallel to the running channel 7 of the RGV trolley 4 (such as the Y direction in FIG. 2), the numerical value of Len is equal to the column number n, S represents a continuous storage value of adjacent storage, and Len and S are positive integers; result is quotient and positive integer; storeminRepresenting the minimum residual idle storage bit threshold value of the vertical warehouse; representing the position value of the vertical library. For example, if the vertical length value Len of library 2 is 120, S =5, =2, then Storemin=40。
In some preferred embodiments, the manner in which the best shelf is determined may be replaced by other manners. The determining the optimal shelf in step S200 may further specifically be:
setting the number of the goods shelf 3 as j, the j is a positive integer, setting LayjIndicating the number of real time empty slots of shelf 3 numbered j.
S210 sequentially determines whether the shelf 3 is the optimum shelf in the descending order of the shelf 3.
S211 real-time idle storage space number Lay on shelf 3jIs greater than the minimum remaining idle storage level threshold value Layer of the goods shelfminIf so, it indicates that the shelf 3 with the number j is the best vertical warehouse, and the process proceeds to step S300.
S212 real-time idle storage space number Lay of shelf 3jLess than or equal to the minimum remaining idle storage level threshold value Layer of the goods shelfminIf yes, the step S210 is repeated until the best shelf is found, and the process proceeds to the step S300.
Now, the foregoing steps are exemplified, and the shelf 3 of the lowest Layer (first Layer) is judged first, when LayerminIf the number of real-time idle storage positions Lay of the shelves on the first layer is not less than 81= 7; it indicates that the shelf 3 of the lowest layer (first layer) is not the optimum shelf, and step S210 is repeated. Sequentially judging the second layer and the third layer, and analogizing in sequence if the real-time idle storage space number Lay of the shelf on the second layer is the same as that of the shelf on the second layer2If =10, it indicates that the second-tier shelf 3 is the optimum shelf, the process proceeds to step S300. And so on, and no further description is given. Therefore, the optimal shelf is determined according to the sequence from low to high, the time for lifting the container to the entrance of the shelf can be reduced, the efficiency is further improved, and the energy consumption is reduced.
The minimum remaining idle storage level threshold value Layer of the goods shelfminThe calculation formula of (2) is as follows:
Layermin=Storemin/C；
in the formula, StoreminC represents the total number of layers of the shelves of the vertical warehouse 2; layerminAnd taking a positive integer as a quotient to represent the minimum remaining free storage space threshold value of the goods shelf. For example, when StoreminIf =40, C =5, then the minimum remaining empty storage level threshold Layer of the shelfmin=8, i.e. at least 8 transfer positions per shelf, cannot be used for storing containers 1.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims (7)

1. The method for scheduling the warehousing storage positions suitable for the vertical warehouse storage system is characterized by comprising the following steps of:
s100, the vertical warehouse storage system responds to the storage task and determines the optimal vertical warehouse according to the number of the storage containers;
s200, responding to the container reaching the entrance of the optimal vertical warehouse, and determining an optimal shelf;
s300, responding to the container reaching the entrance of the optimal shelf, determining the optimal storage position of the container;
s400, the container is conveyed to the corresponding optimal storage position, and warehousing is completed.
2. The method for scheduling warehousing storage space of claim 1, wherein the number of the vertical warehouse is set to k, and k is a positive integer,
the determining the optimal standing library in the step S100 specifically includes:
s110, sequentially judging whether the vertical warehouse is the optimal vertical warehouse according to the sequence of the vertical warehouses through which the containers will pass; the specific judgment formula is as follows:
Shuttlek=Ak-B；
in the formula, AkRepresenting the number of real-time idle storage bits of the vertical library with the number k, B representing the number of warehousing containers, ShuttlekRepresenting the number of estimated remaining idle storage bits of the vertical library with the number k;
s111 predicting the number of the residual idle storage bits Shuttle when the library is establishedkGreater than the minimum residual idle storage threshold value Store of the vertical warehouseminIf yes, the vertical library with the number k is the optimal vertical library;
s112 predicting the number of the residual idle storage bits Shuttle when the library is establishedkLess than or equal to the minimum residual idle storage position threshold Store of the vertical warehouseminIf so, the step S110 is repeated until the best vertical library is found.
3. The method for dispatching warehouse storage locations in a vertical warehouse storage system according to claim 2,
minimum residual idle storage bit threshold value Store of vertical warehouseminThe calculation formula of (2) is as follows:
Result= Len/ (S+ 1)；
Storemin= Result* ；
in the formula, Len represents a longitudinal length value of the vertical library, S represents a continuous storage value of adjacent storage, and Len and S are positive integers; result is quotient and positive integer; storeminRepresenting the minimum residual idle storage bit threshold value of the vertical warehouse; representing the position value of the vertical library.
4. The method for scheduling warehousing storage space of a vertical warehousing system according to claim 1,
the determination of the optimal shelf in step S200 specifically includes: and determining the shelf with the largest number of real-time idle storage positions as the optimal shelf.
5. The method of claim 1, wherein j is a shelf number, j is a positive integer, and Lay is a shelf numberjRepresenting the number of real-time free storage slots of the shelf numbered j, characterized in that,
the determination of the optimal shelf in step S200 specifically includes:
s210, sequentially judging whether the goods shelves are the optimal goods shelves according to the sequence of the goods shelves from low to high;
s211 real-time idle storage space number Lay on shelfjIs greater than the minimum remaining idle storage level threshold value Layer of the goods shelfminIf so, the shelf with the number j is the optimal vertical warehouse;
s212 real-time idle storage space number Lay on shelfjLess than or equal to the minimum remaining idle storage level threshold value Layer of the goods shelfminIf so, step S210 is repeated until the best shelf is found.
6. The method for scheduling warehouse storage space in a vertical warehouse storage system as claimed in claim 5, wherein the threshold Layer of the minimum remaining empty storage space of the shelfminThe calculation formula of (2) is as follows:
Layermin=Storemin/C；
in the formula, StoreminC, representing the minimum remaining idle storage position threshold value of the vertical warehouse, and representing the total number of layers of shelves of the vertical warehouse; layerminAnd taking a positive integer as a quotient to represent the minimum remaining free storage space threshold value of the goods shelf.
7. The warehousing storage space scheduling method suitable for the vertical warehouse storage system according to any one of claims 1 to 6, wherein the column number of the storage space of each layer of shelf is set as n, the row number of the storage space of each layer of shelf is set as i, n and i are positive integers,
the determining of the optimal storage location of the container in step S300 specifically includes:
s310, sequentially judging whether the idle storage bit is the optimal storage bit according to the sequence of the row number i of the idle storage bit from large to small and then according to the sequence of the column number n of the idle storage bit from small to large; the specific judgment formula is as follows:
Positioni,n= Lengthi,n % ( S + 1 )；
in the formula, Lengthi,nA number indicating a bin of the ith row and the nth column, and a Lengthi,n= n; s represents a continuous storage value of adjacent storage, and is a positive integer; positioni,nIs the remainder;
s311 when Positioni,nIf not, it indicates the Lengthi,nThe storage position of (1) is the optimal storage position;
s312 when Positioni,nIf it is equal to 0, the step S310 is repeated until the best bin is found.
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