CN112193703B - Modularized circulating grid type warehousing system and scheduling method - Google Patents
Modularized circulating grid type warehousing system and scheduling method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The invention discloses a modular circulating grid type storage system and a scheduling method, wherein the modular circulating grid type storage system comprises a goods picking area and a goods preparation area; the goods picking area comprises m goods picking modules, and each goods picking module comprises a plurality of goods grids; one goods grid at the outermost end of each goods picking module is a sorting position, and the sorting position is connected with an external goods picking device; the stock area comprises 1 stock module, and the stock module comprises a plurality of stock grids; at least one goods grid in each goods picking module is connected with the goods grid in the stock module, and the goods grids connected between the goods picking module and the stock module are interface positions of the goods grids; at least two empty goods grids are arranged in each goods picking module and each goods preparing module. The grid storage module is formed by connecting a plurality of modularized grid storage modules, and has stronger flexibility and expansibility; and a decoupled distributed scheduling control framework is adopted, so that flexible transfer of the whole warehousing system and order picking work of a plurality of sorting points are realized.
Description
Technical Field
The invention belongs to the technical field of automatic warehousing systems, and particularly relates to a modular circulation grid type warehousing system and a scheduling method.
Background
The automatic storage system is an important component of a modern logistics system, and the automatic storage system is mainly used for dispatching goods in and out according to order demands. A Grid-based Storage System (GBS System) is a new type of Storage System that has appeared in the last decade, and is formed by closely arranging rectangular Storage units of a cargo Grid, where each cargo Grid stores a load or is a vacant space, and the load can move from one cargo Grid to an adjacent vacant space, as shown in fig. 1. Compared with the traditional automatic stereoscopic warehouse (AS/RS), the grid type storage system eliminates the occupied space of the roadway, has the characteristics of high storage density, convenience in installation and layout and the like, and has wide application prospect.
A plurality of grid type storage subsystems can be connected to form a larger warehousing system, so that the design and layout of the whole warehousing system have stronger flexibility and expansibility. The modular circulation grid type warehousing system is formed by connecting a plurality of circulating grid type storage sub-modules, loads in the system can be circularly transferred in the storage modules and also can be transferred to other adjacent storage modules through connecting positions, and the transfer of the loads in the whole system can be achieved.
At present, the GBS system related to domestic and foreign documents mainly takes an independent system as a main part, the single-load ex-warehouse problem of the GBS system under different vacancy configurations is researched, and an optimal method or a heuristic method for load ex-warehouse is provided. For a modular warehousing system formed by connecting a plurality of GBS modules and a scheduling control method thereof, the existing research method and technology are difficult to directly apply, and a centralized scheduling control method is generally adopted in the prior art.
Disclosure of Invention
The invention aims to provide a modular circulating grid type warehousing system and a scheduling method aiming at the defects of the technology, and the system and the method have stronger flexibility and expansibility.
In order to achieve the purpose, the invention designs a modular circulation grid type storage system, which comprises a goods picking area and a goods preparation area; the goods picking area comprises m goods picking modules, each goods picking module comprises a plurality of goods grids, and the goods grids are closely arranged in a circulating structure; one goods grid at the outermost end of each goods picking module is a sorting position, the sorting position is connected with an external goods picking device, and goods at the sorting position can be picked and delivered out of the warehouse; the goods preparation area comprises 1 goods preparation module, the goods preparation module comprises a plurality of goods grids, and the goods grids are closely arranged in a circulating structure; at least one goods grid in each goods picking module is connected with the goods grid in the stock module, and the goods grids connected between the goods picking module and the stock module are interface positions of the goods grids; at least two empty goods grids are arranged in each goods picking module and each goods preparation module so as to ensure that the normal transportation of the system is free from deadlock.
Further, the movement of the goods in the warehousing system includes movement within the modules and movement between modules, the movement within the modules includes movement within each pick module and movement within the stock module, and the movement between modules includes movement between the stock module and the pick module; the movement rules within the module are: if goods are stored on a certain goods grid in the module and the adjacent goods grid of the goods grid in the clockwise or anticlockwise direction is a vacant space, moving the goods of the goods grid to the adjacent vacant goods grid; (ii) a
The rules for movement between modules are: for the stock module, if the interface position of the stock module and a certain picking module has goods and the interface position corresponding to the picking module is a vacant picking grid, moving the goods of the stock module to the picking module; for the order picking module, if goods exist at the interface positions of the order picking module and the stock module, and the interface position corresponding to the stock module is a vacant stock module, the goods of the stock module are moved to the order picking module.
Further, the goods can only move one grid at a time, and all single movements take the same time, i.e. moving one grid is one step.
The dispatching method of the modular circulation grid type warehousing system is as follows:
1) each goods picking module receives a customer order task;
2) according to the content of the order tasks of the goods picking modules, if the goods types required by the orders exist in the goods picking modules, the required goods are transferred to a sorting point to be delivered out of the warehouse through independent scheduling; if the goods types required by the orders do not exist in the goods picking module, the required goods are searched from the goods preparation module, the goods are transferred to an interface position of the goods picking module for executing the order tasks through independent scheduling, the goods are moved into the goods picking module through coordinated scheduling, and the goods are transferred to a sorting position for delivery from a warehouse through independent scheduling by the goods picking module;
3) if the current picking module does not have the goods required by the order and the goods of the required type are not found in the stock module, the stock module inquires other picking modules to obtain information of other picking modules with the required goods, and the order task is distributed to other picking modules.
Further, the independent scheduling specifically includes: the designated goods are transferred to the target position in the clockwise or anticlockwise direction, the moving steps required for moving the designated goods to be transferred to the target position in the two directions are calculated respectively, the direction with the smaller moving steps is selected to execute the transfer, and the designated goods to be transferred are moved to the target position.
Further, the coordination scheduling process is as follows:
1) when the goods picking module is lack of goods or has vacant resources, the resource requirements are sent to the stock module, the vacant goods picking grids are moved to the interface position through independent scheduling according to the types of the resource requirements, and the mobile state is switched to after the moving action is started in the goods picking module; after the required resources are moved to the connection point, the picking module is switched to a waiting state;
2) the stock module receives the resource requirement of the picking module and moves the required resource to the corresponding interface position through independent scheduling; after the movement action is started in the stock module, the stock module is switched to a 'moving' state; after the required resources are moved to the interface position, the stock module is switched into a waiting state;
3) when the movement of each step is completed, the stock module and the picking module update the state information of the stock module and the picking module, the running state of the other side is obtained, and when the stock module and the picking module are both in the waiting state, the exchange action is executed, namely, the goods move between the stock module and the picking module, and the two sides which are executing the exchange action are switched to the exchange state.
Further, in the coordinated scheduling, when the multiple picking modules all send resource requirements to the stock module, the stock module processes the resource requirements of the picking modules in sequence, and the processing priority principle is as follows: according to the number of steps left by each memory module when the memory module reaches the 'exchange' state, the smaller the number of steps, the higher the priority, and the higher the priority, the processing is performed.
Compared with the prior art, the invention has the following advantages: the modular circulating grid type warehousing system and the scheduling method are formed by connecting a plurality of modular grid storage modules and have stronger flexibility and expansibility; and a decoupled distributed scheduling control architecture is adopted, so that flexible transfer of the whole storage system and order picking work of a plurality of sorting points are realized.
Drawings
Fig. 1 is a schematic diagram of the operation of the grid-type warehousing system.
FIG. 2 is a schematic view of a modular cycle grid-type warehousing system according to the present invention.
Fig. 3 is a general control architecture of the scheduling control method in fig. 2.
Fig. 4 is a diagram illustrating independent scheduling control within the module of fig. 2.
Fig. 5 is a schematic diagram illustrating coordinated scheduling control among the modules in fig. 2.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The modular circulation grid-type warehousing system as shown in fig. 2 comprises a picking area and a stock area; the goods picking area is used for receiving a customer order task and picking goods out of the warehouse according to the order requirement; the stock area is used for supplementing the required type of goods for the picking area and increasing the storage capacity of the whole warehousing system. The goods picking area comprises m goods picking modules, each goods picking module comprises a plurality of goods grids, and the goods grids are closely arranged in a circulating structure; one goods grid at the outermost end of each goods picking module is a sorting position, the sorting position is connected with an external goods picking device, and goods at the sorting position can be picked and delivered out of the warehouse; the goods preparation area comprises 1 goods preparation module, the goods preparation module comprises a plurality of goods grids, and the goods grids are closely arranged in a circulating structure; at least one goods grid in each goods picking module is connected with the goods grid in the stock module, and the goods grids connected between the goods picking module and the stock module are interface positions of the goods grids; at least two empty goods grids are arranged in each goods picking module and each goods preparation module so as to ensure that the normal transportation of the system is free from deadlock.
Cargo movement in the system includes movement within the modules and movement between the modules. Movement within the modules includes movement within each picking module and movement within the stock module, and movement between modules includes movement between the stock module and the picking module. The rules of movement within the module are: if goods are stored on one goods grid in the module and the adjacent goods grid of the goods grid in the clockwise or anticlockwise direction is a vacant space, the goods of the goods grid are moved to the adjacent vacant goods grid. The moving rule among the modules is as follows: for the stock module, if the interface position of the stock module and a certain picking module has goods and the interface position corresponding to the picking module is a vacant picking grid, moving the goods of the stock module to the picking module; for the order picking module, if goods exist at the interface positions of the order picking module and the stock module, and the interface position corresponding to the stock module is a vacant stock module, the goods of the stock module are moved to the order picking module.
In addition, the goods can only move one goods grid at a time, and the time consumed by all single movement is the same, namely, one goods grid is moved in one step; each module takes single-step movement as a period to maintain and update the state of the module.
The dispatching control method of the modular circulation grid type warehousing system adopts a decoupled distributed dispatching control architecture. The movement in the modules is independently scheduled and controlled by the module where the goods are positioned, and the movement among the modules is coordinated and scheduled and controlled between the goods picking module and the goods preparation module related to the movement.
As shown in fig. 4, the independent scheduling control is used for transferring the designated goods in the scheduling module to the target position, transferring the designated goods to the target position in a clockwise or counterclockwise direction, calculating the number of moving steps required for moving the designated goods to be transferred to the target position in two directions, respectively, selecting the direction with less moving steps to perform the transfer, and moving the designated goods to be transferred to the target position. Taking clockwise circulation as an example (the steps of the method in the counterclockwise direction are the same), the steps of moving the designated cargo to be transferred to the target position are as follows:
step 1: detecting whether the designated goods to be transferred reach the target position, and finishing the transfer scheduling of the designated goods if the designated goods to be transferred reach the target position; otherwise, go to Step 2;
step 2: moving the appointed goods to be transferred towards the target position along the circulation direction, if the next position of the appointed goods is a vacant grid along the clockwise direction, moving the appointed goods one Step forward, and transferring to Step 1; otherwise, go to Step 3;
Step 3: and searching the vacant grids closest to the specified goods to be transferred along the clockwise circulation direction, moving the vacant grids (along the anticlockwise direction) to the grids at the next position of the specified goods to be transferred, and turning to Step 2.
As shown in fig. 5, the coordinated scheduling control is used to schedule the movement of goods from the interface position of one stock module to the corresponding interface position of the pick module connected thereto, which movement is called a swap action, and is implemented by the operational state control of the modules.
The operating states of the modules include: (1) idle, which means that the current module does not perform any action and needs to be executed; (2) waiting, the current module is waiting to perform the exchange action, i.e. the resource (good or empty) to be exchanged has reached the interface position of the module; (3) moving, the current module is performing a movement action within the module; (4) and (4) exchanging, wherein the current module executes the exchanging action, and the exchanging action can be executed only after the stock module and a certain picking module reach the waiting state, and the exchanging state is entered.
The principle process of the coordinated scheduling control method is as follows:
1) when the goods picking module is lack of goods or has vacant resources, the resource requirements are sent to the stock module, the vacant goods picking grids are moved to the interface position through independent scheduling according to the type of the resource requirements, and after the moving action is started in the goods picking module, the goods picking module is switched to a 'moving' state (as shown in the process I in the figure 5); after the required resources are moved to the connection point, the picking module is switched to a waiting state (as the process II in the figure 5);
2) The stock module receives the resource requirement of the picking module and moves the required resource (goods or vacant space) to the corresponding interface position through independent scheduling; after the movement action is started in the stock module, the stock module is turned to a 'moving' state (as shown in the process (r) in FIG. 5); after the required resources are moved to the interface position, the stock module is switched to a 'waiting' state (as the process II in the figure 5);
3) when the movement of each step is completed, the stock module and the picking module update the state information of the stock module and the picking module, and acquire the running state of the other side, and when the two sides are in the waiting state, the exchange action is executed, namely, the goods move between the stock module and the picking module, and the two sides which are executing the exchange action are switched to the exchange state (as shown in the process III in the figure 5);
4) when a plurality of picking modules all send resource requirements to the stock module, the stock module processes the resource requirements of each picking module in sequence, and the priority principle of the processing is as follows: according to the number of steps left by each memory module when the memory module reaches the 'exchange' state, the smaller the number of steps, the higher the priority, and the higher the priority, the processing is performed.
As shown in fig. 3, the scheduling method of the modular circulation grid type warehousing system is as follows:
1) each goods picking module receives a customer order task;
2) According to the content of the order tasks of the goods picking modules, if the goods types required by the orders exist in the goods picking modules, the required goods are transferred to a sorting point to be delivered out of the warehouse through independent scheduling; if the goods types required by the orders do not exist in the goods picking module, the required goods are searched from the goods preparation module, the goods are transferred to an interface position of the goods picking module for executing the order tasks through independent scheduling, the goods are moved into the goods picking module through coordinated scheduling, and the goods are transferred to a sorting position for delivery from a warehouse through independent scheduling by the goods picking module;
3) if the current picking module does not have the goods required by the order and the goods of the required type are not found in the stock module, the stock module inquires other picking modules to obtain the information of other picking modules with the required goods and distributes the order task to other picking modules (with the required goods).
Obviously, the method of the invention can flexibly transfer the whole storage system of goods and select orders of a plurality of sorting points, and has stronger flexibility and expansibility on hardware module configuration and software control architecture.
Claims (2)
1. A modular circulation grid type warehousing system comprises a picking area and a stock area; the method is characterized in that: the goods picking area comprises m goods picking modules, each goods picking module comprises a plurality of goods grids, and the goods grids are closely arranged in a circulating structure; one goods grid at the outermost end of each goods picking module is a sorting position, the sorting position is connected with an external goods picking device, and goods at the sorting position can be picked and delivered out of the warehouse; the goods preparation area comprises 1 goods preparation module, the goods preparation module comprises a plurality of goods grids, and the goods grids are closely arranged in a circulating structure; at least one goods grid in each goods picking module is connected with the goods grid in the stock module, and the goods grids connected between the goods picking module and the stock module are interface positions of the goods grids; each goods picking module and each goods preparing module are internally provided with at least two vacant goods grids;
The goods movement in the warehousing system comprises movement in the modules and movement between the modules, the movement in the modules comprises movement in each goods picking module and movement in the stock module, and the movement between the modules comprises movement between the stock module and the goods picking module; the rules of movement within the module are: if goods are stored on a certain goods grid in the module and the adjacent goods grid of the goods grid in the clockwise or anticlockwise direction is a vacant space, moving the goods of the goods grid to the adjacent vacant goods grid;
the moving rule among the modules is as follows: for the stock module, if goods exist in the interface position of the stock module to a certain picking module and the interface position corresponding to the picking module is a vacant picking grid, the goods in the stock module are moved to the picking module; for the picking module, if goods exist at the interface position from the picking module to the stock module and the interface position corresponding to the stock module is a vacant stock module, the goods of the picking module are moved to the stock module;
the scheduling method of the modularized circulating grid type warehousing system comprises the following steps:
1) each goods picking module receives a customer order task;
2) according to the content of the order task of each goods picking module, if the goods types required by the order are in each goods picking module, the required goods are transferred to a sorting point for delivery out of the warehouse through independent scheduling; if the goods types required by the orders do not exist in the goods picking module, the required goods are searched from the goods preparation module, the goods are transferred to an interface position of the goods picking module for executing the order tasks through independent scheduling, the goods are moved into the goods picking module through coordinated scheduling, and the goods are transferred to a sorting position for delivery from a warehouse through independent scheduling by the goods picking module;
3) If the current picking module does not have the goods required by the order and the goods of the required type are not found in the stock module, the stock module inquires other picking modules to obtain the information of the other picking modules with the required goods, and the order task is distributed to the other picking modules;
the independent scheduling specifically comprises: the designated goods are transferred to the target position in a clockwise or anticlockwise direction, the moving steps required for moving the designated goods to be transferred to the target position in the two directions are respectively calculated, the direction with less moving steps is selected to execute the transfer, and the designated goods to be transferred are moved to the target position;
the coordinated scheduling is as follows:
1) when the goods picking module is lack of goods or has vacant resources, the resource requirements are sent to the stock module, the vacant goods picking grids are moved to the interface position through independent scheduling according to the types of the resource requirements, and the mobile state is switched to after the moving action is started in the goods picking module; after the required resources are moved to the connection point, the picking module is switched to a waiting state;
2) the stock module receives the resource requirement of the picking module and moves the required resource to the corresponding interface position through independent scheduling; after the movement action is started in the stock module, the stock module is switched to a 'moving' state; after the required resources are moved to the interface position, the stock module is switched into a waiting state;
3) When each step of movement is completed, the stock module and the picking module update the state information of the stock module and the picking module, and acquire the running state of the other party, and when the two parties are in a waiting state, an exchange action is executed, namely the goods move between the stock module and the picking module, and the two parties executing the exchange action are switched to an exchange state;
in the coordinated scheduling, when a plurality of picking modules all send resource demands to the stock module, the stock module processes the resource demands of each picking module in sequence, and the priority principle of the processing is as follows: according to the number of steps left by each memory module when the memory module reaches the 'exchange' state, the smaller the number of steps, the higher the priority, and the higher the priority, the processing is performed.
2. The modular circulating grid-type warehousing system of claim 1, wherein: the goods can only move one goods grid at a time, and the time consumed by all single movements is the same, namely, one goods grid is moved in one step.
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| US7363104B2 (en) * | 2003-08-15 | 2008-04-22 | Sk Daifuku Corporation | Product storage and picking system and method of storing and picking products |
| EP2217513B1 (en) * | 2007-11-08 | 2013-01-09 | Ilia Kharkover | A method and system for enabling automated receiving and retrieving of cargo for storing purposes |
| CN104118680B (en) * | 2013-04-26 | 2017-05-03 | 钟志刚 | Intelligent modular circulation logistics warehouse structure |
| GB201404870D0 (en) * | 2014-03-18 | 2014-04-30 | Ocado Ltd | Robotic service device and handling method |
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| US10961054B2 (en) * | 2018-06-08 | 2021-03-30 | Attabotics Inc. | Storage and retrieval systems performing internal sortation by orchestrated navigation of storage grid robots to workstation intake points |
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