CN112875112B - Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method - Google Patents

Abstract

The invention discloses a digital twin-based high-density stereoscopic warehouse storage location allocation and scheduling method. And performing warehousing planning based on the principle of the shortest warehousing and scheduling path, and judging whether the warehousing planning conflicts with the delivery time of the stored goods in the target roadway at each step of the warehousing planning, thereby effectively solving the problems of order congestion and conflict between warehouse location allocation and equipment scheduling. According to the digital twin-based high-density stereoscopic warehouse storage location allocation and scheduling method, the physical simulation platform is used for acquiring order information in advance to plan the storage location and equipment in advance, instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment are achieved, the actual production process is simulated really, the simulation analysis and verification test result has enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse storage location allocation and equipment scheduling, and the problems of conflict and order congestion in the storage location allocation and the equipment scheduling are solved.

Description

Digital twin-based high-density stereoscopic warehouse storage position allocation and scheduling method

Technical Field

The invention relates to the technical field of warehouse management, in particular to a digital twin-based high-density stereoscopic warehouse bit allocation and scheduling method.

Background

At present, in a common stereoscopic warehouse, a stacker is used between two single-row shelves for warehousing and warehousing, for example, 5 single-row shelves are needed, and 4 stackers are needed for warehousing and warehousing. With the development of the logistics industry, high-density stereoscopic warehouses appear. The high-density stereoscopic warehouse combines the goods shelves, the shuttle type goods shelves in the middle are managed in and out by the shuttle cars and the stacking machines together, and the single-row goods shelves on both sides are managed in and out by the corresponding stacking machines, so that the space utilization rate of the stereoscopic warehouse can be greatly improved.

In the high-density stereoscopic warehouse in the prior art, the warehouse positions of the warehouse-in orders are distributed and the related equipment is scheduled mainly through related offline rules in a management and control system. The biggest defects are as follows: (1) the existing system is basically in a real-time order demand response state, order information cannot be obtained in batches in advance and library positions and equipment can not be planned in advance, various production emergencies easily occur, so that production tasks cannot be completed on time, and the system is poor in flexibility; (2) the existing system lacks an efficient warehouse location allocation and equipment scheduling algorithm and also lacks a feasibility and efficiency analysis method of a scheduling scheme, so that the equipment cannot respond to warehouse entry and exit requirements in time to cause order congestion; (3) the existing design method fails to integrate the digital model of the high-density stereoscopic warehouse with an upper management and control system, and cannot realize dynamic simulation operation test of issuing production instruction drive to the digital model of the high-density stereoscopic warehouse by the management and control system; meanwhile, the instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment cannot be realized, and the actual production process cannot be simulated really, so that the simulation analysis and verification test result does not have enough credibility and persuasion.

Disclosure of Invention

The invention aims to provide a digital twin-based high-density stereoscopic warehouse bit allocation and scheduling method, which solves the defects.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention discloses a high-density stereoscopic warehouse storage space distribution and scheduling method based on digital twinning, which is applied to a high-density stereoscopic warehouse consisting of single storage space shelves at two sides, a shuttle-type storage shelf in the middle, two stackers between the middle shuttle-type storage shelf and the single storage space shelves at two sides and a plurality of shuttle cars; the high-density stereoscopic warehouse is divided into a plurality of goods positions by taking the upright posts and the cross beams as boundaries, and each goods position has a unique shelf number, a unique goods position number and a unique layer number as identifiers; the method comprises the following steps:

constructing a real object simulation platform which is synchronous in virtuality and reality and is provided with an upper MES layer;

acquiring warehousing order data from an upper MES, simulating warehousing order delivery according to the warehousing time sequence, and distributing idle stackers;

if the warehousing order is a single goods order, retrieving all tunnels with vacant positions and no task sequence, sequencing the retrieved tunnels from short to long according to the length of a scheduling path, and taking out one tunnel from the retrieved tunnels according to the sequence to judge whether the tunnel is a vacant tunnel:

if the tunnel is empty, further judging whether the tunnel is the last retrieval result; if not, taking out the next retrieval result to judge whether the next retrieval result is an empty roadway; if the result is the last retrieval result, determining the entry roadway as an empty roadway with the shortest scheduling path; the goods position is the first goods position in the warehousing direction of the roadway, the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number are output, and the physical simulation platform performs warehousing actions;

if the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel; if so, taking out the next retrieval result to judge whether the next retrieval result is an empty roadway; if not, determining that the roadway is a warehousing roadway, and the goods position is a next goods position of the last goods in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;

if the warehousing order is a multi-goods order, judging whether the warehousing order is the first goods of the warehousing order;

if the goods are not the first goods of the warehousing order, warehousing according to a specified task sequence, outputting a warehousing stacker, a shuttle car, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;

if the first goods of the warehousing order is available, all tunnels with vacant positions and no task sequence are searched, and whether the searched tunnels have tunnels with vacant positions larger than the quantity of the goods of the warehousing order is judged;

if the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order exist, the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order are sequenced from short to long according to the length of a scheduling path, and one tunnel is taken out in sequence to judge whether the tunnel is an empty tunnel; if the roadway is empty, determining the roadway as a warehousing roadway; the goods position is the first goods position in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;

if the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel; if so, taking out the next roadway with the empty space larger than the goods quantity of the warehousing order to judge whether the roadway is an empty roadway; if not, determining that the roadway is a warehousing roadway, and the goods position is a next goods position of the last goods in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;

if no laneway with the vacancy larger than the quantity of the goods in the warehousing order exists, judging whether a laneway cluster meeting the quantity condition of the goods in the warehousing order exists in the retrieved laneway, wherein the laneway cluster is a cluster consisting of a plurality of laneways with the goods shelf numbers and the layer numbers within 3 difference between the laneways;

if the tunnel clusters meeting the warehousing order goods quantity condition exist, the tunnel clusters meeting the warehousing order goods quantity condition are sequenced from short to long according to the length of a total scheduling path, and one tunnel cluster is taken out in sequence to judge whether the warehousing order ex-warehouse time conflicts with the ex-warehouse time of goods orders stored in the tunnel of the tunnel cluster; if not, the tunnels in the tunnel cluster are sequenced from short to long according to the length of a scheduling path, the warehousing order is sequentially divided into a plurality of sub-orders according to the vacancy of the tunnels, and a task sequence of the warehousing order is arranged for a corresponding stacker and a shuttle vehicle; determining a tunnel corresponding to each sub-order as a warehousing tunnel, wherein the goods position of each tunnel is a next goods position of the last goods in the warehousing direction of the tunnel, and if the tunnel is an empty tunnel, the goods position is a first goods position in the warehousing direction of the tunnel; outputting a warehousing stacker, a shuttle vehicle, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by a physical simulation platform; if yes, further judging whether the roadway cluster is the last roadway cluster meeting the condition of warehousing order goods quantity; if the tunnel cluster is not the last tunnel cluster meeting the warehouse entry order goods quantity condition, taking out the next tunnel cluster meeting the warehouse entry order goods quantity condition in sequence, and judging whether the warehouse entry order goods delivery time conflicts with the warehouse delivery time of goods orders stored in the tunnel of the tunnel cluster; if the last lane cluster meeting the goods quantity condition of the warehousing order is the lane cluster, sorting the retrieved lanes from short to long according to the length of a scheduling path, and taking one lane out of the retrieved lanes in sequence to judge whether the warehousing order ex-warehouse time conflicts with the ex-warehouse time of the goods order stored in the lane; if so, sequentially taking down a retrieved tunnel to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehousing roadway is the roadway, dividing the warehousing order into a sub-order according to the vacant position of the roadway, arranging a task sequence of the sub-order for a corresponding stacker and a corresponding shuttle vehicle, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, and if the roadway is the vacant roadway, the goods position is the first goods position of the roadway; judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway or not; if yes, sequencing the residual roadways from short to long according to the length of a scheduling path, sequentially judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway from one residual roadway, and if so, taking the next residual roadway to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;

if the tunnel clusters meeting the goods quantity condition of the warehousing order do not exist, sorting the retrieved tunnels from short to long according to the length of a scheduling path, and taking one tunnel out of the retrieved tunnels in sequence to judge whether the warehouse-in order delivery time conflicts with the warehouse-out time of the goods order stored in the tunnel; if so, sequentially taking down a retrieved tunnel to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehousing roadway is the roadway, dividing the warehousing order into a sub-order according to the vacant position of the roadway, arranging a task sequence of the sub-order for a corresponding stacker and a corresponding shuttle vehicle, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, and if the roadway is the vacant roadway, the goods position is the first goods position of the roadway; judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway or not; if yes, sequencing the residual roadways from short to long according to the length of a scheduling path, sequentially judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway from one residual roadway, and if so, taking the next residual roadway to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;

and after the physical simulation platform finishes the warehousing action, outputting the warehousing scheme.

Preferably, the method further comprises the following steps:

after the physical simulation platform finishes warehousing actions, acquiring order data from an upper MES, simulating order delivery according to the warehouse-out time sequence, and distributing idle stackers;

judging whether goods which are not delivered are available before or after the delivery order: if the goods which are not delivered from the warehouse still exist, judging whether the time for storing the orders in the roadway where the delivery orders exist is increased progressively or not, if so, allocating the warehouse stacker as a right stacker, and if so, allocating the warehouse stacker as a left stacker; if no goods which are not delivered from the warehouse still exist, distributing idle stackers;

allocating an idle shuttle car with the shortest scheduling distance, judging whether the ex-warehouse order is a multi-cargo order, if so, arranging an ex-warehouse task sequence of the stacker and the shuttle car, and outputting the ex-warehouse stacker, the shuttle car, the ex-warehouse cargo shelf number, the cargo level number and the floor number according to the ex-warehouse task sequence; if not, directly outputting the ex-warehouse stacker, the shuttle machine, the ex-warehouse goods shelf number, the goods position number and the layer number;

the physical simulation platform starts the delivery action according to the output delivery stacker, the shuttle, the delivery goods shelf number, the goods position number and the layer number;

and after the physical simulation platform finishes the warehouse-out action, outputting a warehouse-out scheme.

Preferably, after all orders are subjected to warehouse entry and exit simulation, the warehouse entry and exit stacker, the warehouse entry and exit shuttle number and the storage warehouse bit data of each cargo are obtained, and the running performance data of the whole line of the high-density stereoscopic warehouse is also obtained; and according to the obtained operation data, carrying out iterative optimization on the warehousing scheme and the ex-warehousing scheme aiming at the problems of long warehousing time and congestion, and then carrying out warehousing and ex-warehousing simulation on all orders until an optimal warehousing scheme is obtained.

Preferably, the high-density stereoscopic warehouse takes the lower right side of a top view as an original point, the goods position numbers and the goods shelf numbers are gradually increased towards two sides, the small side of the goods position number is the right side, the large side of the goods position number is the left side, the ground is taken as the original point of the layer number, the goods position numbers are gradually increased towards the upper layer, a roadway refers to a middle shuttle type goods shelf, the goods shelf numbers are the same as the layer number, and the goods position numbers are arranged from small to large, namely a group of goods positions of the shuttle car which freely move along the direction of the goods position numbers;

the method for calculating the length of the scheduling path comprises the following steps:

acquiring a target roadway goods shelf number, a layer number and a current goods shelf number, layer number and goods position number of an idle shuttle vehicle;

adding the target roadway shelf number and the target roadway layer number, and calculating to obtain the length of the target roadway warehousing path;

judging whether the stacker distributed by the warehousing order is a left stacker or not, if so, calculating the sum of the absolute value of the shuttle car obtained by subtracting the target tunnel goods shelf number from the current goods shelf number, the absolute value of the target tunnel goods shelf number subtracted from the current layer number of the shuttle car and the absolute value of the shuttle car obtained by subtracting the absolute value of the current goods level number from the maximum value of the goods level number to obtain the length of the dispatching path of the shuttle car; if not, calculating the sum of the shuttle car current goods shelf number minus the absolute value of the target roadway goods shelf number, the shuttle car current layer number minus the absolute value of the target roadway goods shelf number and the shuttle car current goods position number to obtain the shuttle car dispatching path length;

calculating the sum of the length of a target roadway warehousing path and the length of a shuttle vehicle dispatching path to obtain the length of the dispatching path;

and returning the length of the dispatching path and the number of the corresponding shuttle car.

Preferably, the high-density stereoscopic warehouse specifies that the storage order warehouse-out time in one lane can only be monotonically increased or decreased, namely, if the storage order warehouse-out time in the same lane is monotonically increased along the positive direction of the goods position number, the stored order warehouse-out time in the lane is increased; if the time for taking out the stored order in the same tunnel monotonically decreases along the positive direction of the goods space number, the time for taking out the stored order in the tunnel is decreased;

the method for judging whether the order delivery time conflicts with the delivery time of the goods orders stored in the roadway comprises the following steps:

judging whether the stored order delivery time of the target roadway is increased progressively or not:

if the stored order delivery time of the target roadway is increased progressively, judging whether the warehousing order is distributed to a left stacker, if so, judging whether the warehousing order delivery time is earlier than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker is the right stacker, judging whether the warehouse-in order delivery time is later than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions;

if the stored order delivery time of the target roadway is decreased progressively, judging whether the warehousing order is distributed to a left stacker, if so, judging whether the warehousing order delivery time is later than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; and if the right stacker is the right stacker, judging whether the warehouse-in order delivery time is earlier than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions.

In the invention, warehousing planning is carried out based on the principle of shortest warehousing and scheduling path, and each step of warehousing planning judges whether the conflict with the delivery time of stored goods in a target roadway exists, so that the problems of order congestion and conflict between warehouse location allocation and equipment scheduling are effectively solved. When the single goods orders are put in storage, the empty roadway is removed as a target roadway for planning, if the target roadway which meets the conditions does not exist, the empty roadway with the shortest scheduling path is selected as a storage roadway, the single goods orders are selected from the stored roadways preferentially, if the conditions do not meet the conditions, the empty roadway is selected as the storage roadway, the utilization rate of the high-density stereoscopic warehouse is improved beneficially, and order congestion is avoided. When multiple goods orders are put in a warehouse and the roadway does not have enough empty spaces for placing all goods, whether a proper roadway cluster exists or not is found out firstly, if so, the orders are divided into a plurality of sub-orders to be planned in the roadway corresponding to the roadway cluster respectively, and the multiple goods are stacked in the similar roadway dispersedly so as to be beneficial to the subsequent shipment of the multiple goods orders. If not, arranging the multiple goods orders into a roadway meeting the order delivery time condition according to the shortest warehousing and scheduling path principle, and arranging a task sequence until all goods of the orders are allocated good positions, thereby realizing the reasonable design of warehousing planning of the multiple goods orders.

According to the digital twin-based high-density stereoscopic warehouse storage location allocation and scheduling method, the physical simulation platform is used for acquiring order information in advance to plan the storage location and equipment in advance, instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment are achieved, the actual production process is simulated really, the simulation analysis and verification test result has enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse storage location allocation and equipment scheduling, and the problems of conflict and order congestion in the storage location allocation and the equipment scheduling are solved.

Drawings

FIG. 1 is a schematic flow diagram of order warehousing in one embodiment of the invention;

FIG. 2 is a schematic flow diagram of block A of FIG. 1;

FIG. 3 is a schematic flow diagram of block B of FIG. 2;

FIG. 4 is a schematic flow diagram of block C of FIG. 2;

FIG. 5 is a flow chart illustrating the calculation of the length of a dispatch path in one embodiment of the present invention;

FIG. 6 is a flow chart of determining whether an order pull time conflicts with a pull time of a stored goods order for the roadway in one embodiment of the invention;

FIG. 7 is a flow diagram illustrating the flow of order warehousing in one embodiment of the present invention;

fig. 8 is a schematic structural view of a high-density stereoscopic warehouse according to an embodiment of the present invention;

fig. 9 is a schematic top view of a high-density stereoscopic warehouse according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Referring to fig. 1 to 9, the invention discloses a high-density stereoscopic warehouse storage allocation and scheduling method based on digital twinning, which is applied to a high-density stereoscopic warehouse consisting of single-storage-space shelves at two sides, a shuttle-type shelf in the middle, two stackers between the shuttle-type shelf in the middle and the single-storage-space shelves at two sides, and a plurality of shuttle cars 100; the high-density stereoscopic warehouse is divided into a plurality of goods positions by taking the upright posts and the cross beams as boundaries, and each goods position has a unique shelf number, a unique goods position number and a unique layer number as identifiers. The method comprises the following steps:

and constructing a virtual-real synchronous physical simulation platform with an upper MES (Manufacturing Execution System). Specifically, a digital model of the high-density stereoscopic warehouse is established, wherein the stacker is a general three-dimensional CAD model and has a clear product structure, and moving parts of the stacker can be independently represented and identified. Then an open information integration platform capable of carrying out three-dimensional near physical virtual simulation design is constructed, virtual equipment of a loader high-density stereoscopic warehouse and a corresponding conveying line is loaded, the action of equipment or the motion of products in the process can be controlled through scripts, and the soft PLC function is achieved. And then a virtual control network, namely a workshop internet of things, is built, and a virtual-real synchronous physical simulation platform is built by using a digital twin technology, so that the action synchronization of the single machine physical model and the corresponding single machine digital model on the digital warehouse can be realized, and the virtual-real synchronization of the warehouse line with the high-density stereoscopic warehouse as the core is realized. And finally, integrating an upper MES to realize that the whole line runs under the MES instruction generation, and simultaneously feeding back the execution conditions of the whole line digital twin model, such as work order completion information, random faults and the like, to the upper MES to realize online simulation running, thereby constructing a virtual-real synchronous physical simulation platform with the upper MES.

Referring to fig. 1-4, warehouse entry order data is acquired from an upper MES, warehouse entry order delivery is simulated according to the warehouse entry time sequence, and idle stackers are distributed.

If the warehousing order is a single goods order, retrieving all tunnels with vacant positions and no task sequence, sequencing the retrieved tunnels according to the length of a scheduling path from short to long, and taking out one tunnel from the retrieved tunnels according to the sequence to judge whether the tunnel is a vacant tunnel. And if the tunnel is empty, further judging whether the tunnel is the last retrieval result. And if the search result is not the last search result, taking out the next search result to judge whether the next search result is an empty roadway. And if the result is the last retrieval result, determining the entry roadway as an empty roadway with the shortest scheduling path. The goods position is the first goods position in the warehousing direction of the roadway, the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number are output, and the physical simulation platform performs warehousing actions. If the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel. And if so, taking out the next retrieved roadway to judge whether the roadway is an empty roadway. If not, determining that the roadway is a warehousing roadway, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, outputting the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform.

And if the warehousing order is a multi-goods order, judging whether the warehousing order is the first goods of the warehousing order.

If the goods are not the first goods of the warehousing order, warehousing according to the specified task sequence, outputting the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform.

And if the first goods of the warehousing order are available, all the tunnels with the vacant positions and without the task sequence are searched, and whether the searched tunnels have tunnels with the vacant positions larger than the number of the goods of the warehousing order or not is judged. If the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order exist, the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order are sequenced from short to long according to the length of the dispatching path, and one tunnel is taken out in sequence to judge whether the tunnel is an empty tunnel. And if the tunnel is an empty tunnel, determining that the tunnel is a warehousing tunnel, and the goods position is the first goods position of the warehousing direction of the tunnel. And outputting the warehousing stacker, the shuttle car 100, the shelf number, the layer number and the cargo space number, and performing warehousing actions by the physical simulation platform. If the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel. And if so, taking out the next roadway with the empty space larger than the goods quantity of the warehousing order to judge whether the roadway is an empty roadway. If not, determining that the roadway is a warehousing roadway, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, outputting the warehousing stacker, the shuttle car 100, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform.

If no laneway with the vacancy larger than the quantity of the goods in the warehousing order exists, judging whether a laneway cluster meeting the quantity condition of the goods in the warehousing order exists in the retrieved laneway, wherein the laneway cluster is a cluster consisting of a plurality of laneways with the goods shelf numbers and the layer numbers within 3 difference between the laneways;

if the tunnel clusters meeting the warehousing order goods quantity condition exist, the tunnel clusters meeting the warehousing order goods quantity condition are sequenced from short to long according to the length of a total scheduling path, and one tunnel cluster is taken out in sequence to judge whether the warehousing-in order delivery time conflicts with the delivery time of the goods orders stored in the tunnel of the tunnel cluster. If no conflict exists, the tunnels in the tunnel cluster are sequenced from short to long according to the length of a scheduling path, the warehousing order is sequentially divided into a plurality of sub-orders according to the vacancy of the tunnels, and the task sequence of the warehousing order is arranged for the corresponding stacker and shuttle 100. And determining a tunnel corresponding to each sub-order as a warehousing tunnel, wherein the goods position of each tunnel is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position in the warehousing direction of the tunnel, outputting a warehousing stacker, a shuttle car 100, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform. And if so, further judging whether the roadway cluster is the last roadway cluster meeting the condition of the quantity of goods in the warehousing order. If the tunnel cluster is not the last tunnel cluster meeting the warehouse entry order goods quantity condition, taking out the next tunnel cluster meeting the warehouse entry order goods quantity condition in sequence, and judging whether the warehouse entry order goods delivery time conflicts with the warehouse delivery time of goods orders stored in the tunnel of the tunnel cluster. And if the last lane cluster meeting the goods quantity condition of the warehousing order is the lane cluster, sequencing the retrieved lanes from short to long according to the length of a scheduling path, and taking one lane out of the retrieved lanes in sequence to judge whether the warehouse-in order delivery time conflicts with the warehouse-out time of the goods order stored in the lane. If the conflict exists, taking down a retrieved tunnel in sequence to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehouse entry is the lane, dividing the warehouse entry order into a sub order according to the vacant position of the lane, and arranging a task sequence of the sub order for the corresponding stacker and shuttle 100, wherein the goods position is a next goods position of the last goods in the warehouse entry direction of the lane, and if the lane is an empty lane, the goods position is a first goods position of the lane. And then judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway. If the conflict exists, taking the next residual tunnel to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods order stored in the tunnel. If the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car 100, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car 100, the shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform.

If the tunnel clusters meeting the goods quantity condition of the warehousing orders do not exist, the retrieved tunnels are sequenced from short to long according to the length of the scheduling path, and one tunnel is taken out in sequence to judge whether the warehouse-in order delivery time conflicts with the warehouse-out time of the goods orders stored in the tunnel. If the conflict exists, taking down a retrieved tunnel in sequence to judge whether the warehouse-in order delivery time conflicts with the delivery time of the goods order stored in the tunnel; if the conflict does not exist, determining that the warehouse entry is the lane, dividing the warehouse entry order into a sub order according to the vacant position of the lane, and arranging a task sequence of the sub order for the corresponding stacker and shuttle 100, wherein the goods position is a next goods position of the last goods in the warehouse entry direction of the lane, and if the lane is an empty lane, the goods position is a first goods position of the lane. And then judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway to judge whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway. If the conflict exists, taking the next residual tunnel to judge whether the delivery time of the warehousing order conflicts with the delivery time of the goods order stored in the tunnel. If the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car 100, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car 100, the shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform.

And after the physical simulation platform finishes the warehousing action, outputting the warehousing scheme.

In the invention, warehousing planning is carried out based on the principle of shortest warehousing and scheduling path, and each step of warehousing planning judges whether the conflict with the delivery time of stored goods in a target roadway exists, so that the problems of order congestion and conflict between warehouse location allocation and equipment scheduling are effectively solved. When the single goods orders are put in storage, the empty roadway is removed as a target roadway for planning, if the target roadway which meets the conditions does not exist, the empty roadway with the shortest scheduling path is selected as a storage roadway, the single goods orders are selected from the stored roadways preferentially, if the conditions do not meet the conditions, the empty roadway is selected as the storage roadway, the utilization rate of the high-density stereoscopic warehouse is improved beneficially, and order congestion is avoided. When multiple goods orders are put in a warehouse and the roadway does not have enough empty spaces for placing all goods, whether a proper roadway cluster exists or not is found out firstly, if so, the orders are divided into a plurality of sub-orders to be planned in the roadway corresponding to the roadway cluster respectively, and the multiple goods are stacked in the similar roadway dispersedly so as to be beneficial to the subsequent shipment of the multiple goods orders. If not, arranging the multiple goods orders into a roadway meeting the order delivery time condition according to the shortest warehousing and scheduling path principle, and arranging a task sequence until all goods of the orders are allocated good positions, thereby realizing the reasonable design of warehousing planning of the multiple goods orders.

According to the digital twin-based high-density stereoscopic warehouse storage location allocation and scheduling method, the physical simulation platform is used for acquiring order information in advance to plan the storage location and equipment in advance, instruction synchronization and information transmission between the high-density stereoscopic warehouse digital model and the field physical equipment are achieved, the actual production process is simulated really, the simulation analysis and verification test result has enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse storage location allocation and equipment scheduling, and the problems of conflict and order congestion in the storage location allocation and the equipment scheduling are solved.

Further, the method for allocating and scheduling the warehouse location of the high-density stereoscopic warehouse based on the digital twin further comprises the following steps:

after the physical simulation platform finishes warehousing actions, acquiring order data from an upper MES, simulating order delivery according to the warehouse-out time sequence, and distributing idle stackers;

judging whether goods which are not delivered are available before or after the delivery order: if the goods which are not delivered from the warehouse still exist, judging whether the time for storing the orders in the roadway where the delivery orders are located is increased progressively or not, if so, allocating the stacker out of the warehouse as a right stacker 200, and if so, allocating the stacker out of the warehouse as a left stacker 300; if no goods which are not delivered from the warehouse still exist, distributing idle stackers;

allocating an idle shuttle car 100 with the shortest scheduling distance, judging whether the ex-warehouse order is a multi-cargo order, if so, arranging an ex-warehouse task sequence of a stacker and the shuttle car 100, and outputting an ex-warehouse stacker, a shuttle, an ex-warehouse cargo shelf number, a cargo position number and a layer number according to the ex-warehouse task sequence; if not, directly outputting the ex-warehouse stacker, the shuttle machine, the ex-warehouse goods shelf number, the goods position number and the layer number;

the physical simulation platform starts the delivery action according to the output delivery stacker, the shuttle, the delivery goods shelf number, the goods position number and the layer number;

and after the physical simulation platform finishes the warehouse-out action, outputting a warehouse-out scheme.

Therefore, whether the order which is not delivered is available before or after the delivery order is judged. If not, indicating that the order can be delivered before and after the delivery order, and distributing idle stackers; if yes, the warehouse-out order is indicated to be blocked in one direction before or after the warehouse-out order, and only the warehouse-out order can be taken out from the other direction, so that whether the warehouse-out time of the order stored in the roadway where the warehouse-out order is located is increased progressively is judged, if so, the warehouse-out stacker is allocated to be the right stacker 200, and if so, the warehouse-out stacker is allocated to be the left stacker 300. And then distributing the idle shuttle car 100 with the shortest scheduling distance, judging whether the warehouse-out order is a multi-cargo order, and if the warehouse-out order is the multi-cargo order, arranging a warehouse-out task sequence of the stacker and the shuttle car 100 to prevent the warehouse-out task sequence from being occupied by other warehouse-in and warehouse-out processes. And finally, outputting the serial numbers of the ex-warehouse stacker and the shuttle car 100, and the shelf number, the position number and the layer number of the ex-warehouse goods, and starting an ex-warehouse action by the simulation system to realize the ordered ex-warehouse planning of the order.

Further, after the simulation of all orders entering and exiting the warehouse is completed, the entering and exiting stacker, the entering and exiting shuttle car 100 number and the storage warehouse bit data of each cargo are obtained, and the operation performance data of the whole line of the high-density stereoscopic warehouse is also obtained; and according to the obtained operation data, carrying out iterative optimization on the warehousing scheme and the ex-warehousing scheme aiming at the problems of long warehousing time and congestion, and then carrying out warehousing and ex-warehousing simulation on all orders until an optimal warehousing scheme is obtained. The optimal warehousing scheme is obtained through multiple iterative optimization, so that simulation analysis and verification test results have enough credibility and persuasion, effective guidance is further provided for real high-density stereoscopic warehouse location allocation and equipment scheduling, and the problems of conflict and order congestion in the location allocation and the equipment scheduling are facilitated to be analyzed and solved.

Further, as shown in fig. 8-9, the high-density stereoscopic warehouse takes the lower right side of the top view as the origin, the cargo space number and the shelf number gradually increase to both sides, the smaller side of the cargo space number is the right side, the larger side is the left side, the ground is taken as the origin of the layer number, the cargo space number gradually increases to the upper layer number, the roadway refers to the middle shuttle type shelf, the shelf number is the same as the layer number, and the cargo space numbers are arranged from small to large, namely, the shuttle car 100 can freely move along the direction of the cargo space number;

the method for calculating the length of the scheduling path comprises the following steps: acquiring a target roadway goods shelf number, a layer number and a current goods shelf number, layer number and goods position number of an idle shuttle car 100; adding the target roadway shelf number and the target roadway layer number, and calculating to obtain the length of the target roadway warehousing path; judging whether the stacker allocated to the warehousing order is the left stacker 300 or not, if so, calculating the sum of the absolute value of the current goods shelf number of the shuttle car 100 minus the goods shelf number of the target roadway, the absolute value of the current layer number of the shuttle car 100 minus the goods shelf number of the target roadway and the absolute value of the maximum value of the goods space number minus the current goods space number of the shuttle car 100 to obtain the dispatching path length of the shuttle car 100; if not, calculating the sum of the current goods shelf number of the shuttle car 100 minus the absolute value of the goods shelf number of the target roadway, the current layer number of the shuttle car 100 minus the absolute value of the goods shelf number of the target roadway and the current goods position number of the shuttle car 100 to obtain the dispatching path length of the shuttle car 100; calculating the sum of the length of the warehousing path of the target roadway and the length of the dispatching path of the shuttle car 100 to obtain the length of the dispatching path; the return dispatch path length is associated with the corresponding shuttle 100 number. Therefore, the sum of the length of the warehousing path of the target roadway and the length of the dispatching path of the shuttle car 100 is used for obtaining the length of the dispatching path, so that the roadways can be sequenced from short to long according to the length of the dispatching path, and warehousing planning is realized on the basis of the shortest warehousing and dispatching path principle.

Further, the high-density stereoscopic warehouse stipulates that the time for storing the orders in one tunnel to leave the warehouse can only be monotonically increased or decreased, namely if the time for storing the orders in the same tunnel to leave the warehouse monotonically increases along the positive direction of the goods position number, the time for the stored orders in the tunnel to leave the warehouse is increased; if the time for taking out the stored order in the same tunnel monotonically decreases along the positive direction of the goods space number, the time for taking out the stored order in the tunnel is decreased; the method for judging whether the order delivery time conflicts with the delivery time of the goods orders stored in the roadway comprises the following steps: judging whether the stored order delivery time of the target roadway is increased progressively or not: if the stored order delivery time of the target roadway is increased progressively, judging whether the warehousing order is distributed to the left stacker 300, if so, judging whether the warehousing order delivery time is earlier than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker 200 is in the warehouse-in direction, judging whether the warehouse-in order delivery time is later than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions; if the time for the stored orders to leave the warehouse of the target roadway is decreased progressively, judging whether the warehousing orders are distributed to the left stacker 300, if so, judging whether the time for the warehousing orders to leave the warehouse is later than the time for the last goods to leave the warehouse in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker 200 is in the right position, judging whether the warehouse-in order delivery time is earlier than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions. Therefore, whether the warehouse-in order warehouse-out time is increased progressively or not is judged, whether the warehouse-in order warehouse-out time is later than or earlier than the warehouse-out time of the last goods in the warehouse-in direction is judged according to the stacker distributed by the warehouse-in order, whether the order warehouse-out time conflicts with the warehouse-out time of the stored goods in the target roadway or not is judged, the judgment is simple, the goods are arranged in each roadway in an increasing or decreasing manner according to the warehouse-out time, and the problem that the warehouse space distribution conflicts with the equipment scheduling.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (5)

1. The method is applied to a high-density stereoscopic warehouse consisting of single goods space shelves on two sides, a shuttle shelf in the middle, two stackers between the middle shuttle shelf and the single goods space shelves on two sides and a plurality of shuttle cars; the high-density stereoscopic warehouse is divided into a plurality of goods positions by taking the upright posts and the cross beams as boundaries, and each goods position has a unique shelf number, a unique goods position number and a unique layer number as identifiers; characterized in that the method comprises:

constructing a real object simulation platform which is synchronous in virtuality and reality and is provided with an upper MES layer;

acquiring warehousing order data from an upper MES, simulating warehousing order delivery according to the warehousing time sequence, and distributing idle stackers;

if the warehousing order is a single goods order, retrieving all tunnels with vacant positions and no task sequence, sequencing the retrieved tunnels from short to long according to the length of a scheduling path, and taking out one tunnel from the retrieved tunnels according to the sequence to judge whether the tunnel is a vacant tunnel:

if the tunnel is empty, further judging whether the tunnel is the last retrieval result; if not, taking out the next retrieval result to judge whether the next retrieval result is an empty roadway; if the result is the last retrieval result, determining the entry roadway as an empty roadway with the shortest scheduling path; the goods position is the first goods position in the warehousing direction of the roadway, the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number are output, and the physical simulation platform performs warehousing actions;

if the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel; if so, taking out the next retrieval result to judge whether the next retrieval result is an empty roadway; if not, determining that the roadway is a warehousing roadway, and the goods position is a next goods position of the last goods in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;

if the warehousing order is a multi-goods order, judging whether the current goods are the first goods of the warehousing order;

if the goods are not the first goods of the warehousing order, warehousing according to a specified task sequence, outputting a warehousing stacker, a shuttle car, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;

if the first goods of the warehousing order is available, all tunnels with vacant positions and no task sequence are searched, and whether the searched tunnels have tunnels with vacant positions larger than the quantity of the goods of the warehousing order is judged;

if the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order exist, the tunnels with the vacant positions larger than the quantity of the goods in the warehouse-in order are sequenced from short to long according to the length of a scheduling path, and one tunnel is taken out in sequence to judge whether the tunnel is an empty tunnel; if the roadway is empty, determining the roadway as a warehousing roadway; the goods position is the first goods position in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;

if the tunnel is not empty, further judging whether the warehouse entry time of the warehouse entry order conflicts with the warehouse exit time of the goods order stored in the tunnel; if so, taking out the next roadway with the empty space larger than the goods quantity of the warehousing order to judge whether the roadway is an empty roadway; if not, determining that the roadway is a warehousing roadway, and the goods position is a next goods position of the last goods in the warehousing direction of the roadway; outputting the warehousing stacker, the shuttle vehicle, the goods shelf number, the layer number and the goods position number, and performing warehousing actions by the physical simulation platform;

if no laneway with the vacancy larger than the quantity of the goods in the warehousing order exists, judging whether a laneway cluster meeting the quantity condition of the goods in the warehousing order exists in the retrieved laneway, wherein the laneway cluster is a cluster consisting of a plurality of laneways with the goods shelf numbers and the layer numbers within 3 difference between the laneways;

if the tunnel clusters meeting the warehousing order goods quantity condition exist, the tunnel clusters meeting the warehousing order goods quantity condition are sequenced from short to long according to the length of a total scheduling path, one tunnel cluster is taken out of the tunnel clusters according to the sequence, and whether the warehousing order ex-warehouse time conflicts with the ex-warehouse time of goods orders stored in the tunnel of the tunnel cluster is judged; if not, the tunnels in the tunnel cluster are sequenced from short to long according to the length of a scheduling path, the warehousing order is sequentially divided into a plurality of sub-orders according to the vacancy of the tunnels, and a task sequence of the warehousing order is arranged for a corresponding stacker and a shuttle vehicle; determining a tunnel corresponding to each sub-order as a warehousing tunnel, wherein the goods position of each tunnel is a next goods position of the last goods in the warehousing direction of the tunnel, and if the tunnel is an empty tunnel, the goods position is a first goods position in the warehousing direction of the tunnel; outputting a warehousing stacker, a shuttle vehicle, a goods shelf number, a layer number and a goods position number according to the task sequence, and performing warehousing actions by a physical simulation platform; if yes, further judging whether the roadway cluster is the last roadway cluster meeting the condition of warehousing order goods quantity; if the lane cluster is not the last lane cluster meeting the warehouse entry order goods quantity condition, taking out the next lane cluster meeting the warehouse entry order goods quantity condition in sequence, and judging whether the warehouse entry order goods delivery time conflicts with the warehouse delivery time of goods orders stored in the lanes of the lane cluster; if the last lane cluster meeting the goods quantity condition of the warehousing order is the lane cluster, sorting the retrieved lanes from short to long according to the length of a scheduling path, taking out one lane from the retrieved lanes in sequence, and judging whether the warehousing order ex-warehouse time conflicts with the ex-warehouse time of the goods order stored in the lane; if so, taking down a retrieved roadway in sequence, and judging whether the warehouse entry order delivery time conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing roadway is the roadway, dividing the warehousing order into a sub-order according to the vacant position of the roadway, arranging a task sequence of the sub-order for a corresponding stacker and a corresponding shuttle vehicle, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, and if the roadway is the vacant roadway, the goods position is the first goods position of the roadway; judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway, and judging whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway or not; if yes, sequencing the residual roadways from short to long according to the length of a scheduling path, taking one residual roadway from the residual roadways in sequence, judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway, and if so, taking the next residual roadway and judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;

if the tunnel cluster meeting the goods quantity condition of the warehousing order does not exist, sorting the retrieved tunnels from short to long according to the length of a scheduling path, taking out one tunnel in sequence, and judging whether the ex-warehouse time of the warehousing order conflicts with the ex-warehouse time of the goods order stored in the tunnel; if so, taking down a retrieved roadway in sequence, and judging whether the warehouse entry order delivery time conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing roadway is the roadway, dividing the warehousing order into a sub-order according to the vacant position of the roadway, arranging a task sequence of the sub-order for a corresponding stacker and a corresponding shuttle vehicle, wherein the goods position is the next goods position of the last goods in the warehousing direction of the roadway, and if the roadway is the vacant roadway, the goods position is the first goods position of the roadway; judging whether the retrieved residual roadway has a roadway vacancy which is larger than the quantity of the residual goods of the goods in the warehouse or not, if not, taking out the next retrieved roadway, and judging whether the warehouse-in order warehouse-out time conflicts with the warehouse-out time of the goods orders stored in the roadway or not; if yes, sequencing the residual roadways from short to long according to the length of a scheduling path, taking one residual roadway from the residual roadways in sequence, judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway, and if so, taking the next residual roadway and judging whether the delivery time of the warehousing order conflicts with the delivery time of the goods orders stored in the roadway; if the conflict does not exist, determining that the warehousing tunnel of the residual goods in the warehousing order is the residual tunnel, arranging a task sequence of the residual goods in the warehousing order for the corresponding stacker and shuttle car, wherein the goods position is the next goods position of the last goods in the warehousing direction of the tunnel, if the tunnel is an empty tunnel, the goods position is the first goods position of the tunnel, outputting the warehousing stacker, the shuttle car, the goods shelf number, the layer number and the goods position number according to the task sequence, and performing warehousing actions by the physical simulation platform;

and after the physical simulation platform finishes the warehousing action, outputting the warehousing scheme.

2. The digital twin-based high-density stereoscopic warehouse bit allocation and scheduling method of claim 1, further comprising:

after the physical simulation platform finishes warehousing actions, acquiring order data from an upper MES, simulating order delivery according to the warehouse-out time sequence, and distributing idle stackers;

judging whether goods which are not delivered are available before or after the delivery order: if the goods which are not delivered from the warehouse still exist, judging whether the time for storing the orders in the roadway where the delivery orders exist is increased progressively or not, if so, allocating the warehouse stacker as a right stacker, and if so, allocating the warehouse stacker as a left stacker; if no goods which are not delivered from the warehouse still exist, distributing idle stackers;

allocating an idle shuttle car with the shortest scheduling distance, judging whether the ex-warehouse order is a multi-cargo order, if so, arranging an ex-warehouse task sequence of the stacker and the shuttle car, and outputting the ex-warehouse stacker, the shuttle car, the ex-warehouse cargo shelf number, the cargo level number and the floor number according to the ex-warehouse task sequence; if not, directly outputting the ex-warehouse stacker, the shuttle machine, the ex-warehouse goods shelf number, the goods position number and the layer number;

the physical simulation platform starts the delivery action according to the output delivery stacker, the shuttle, the delivery goods shelf number, the goods position number and the layer number;

and after the physical simulation platform finishes the warehouse-out action, outputting a warehouse-out scheme.

3. The digital twin-based high-density stereoscopic warehouse storage space allocation and scheduling method according to claim 2, wherein after all orders are subjected to warehouse entry and exit simulation, an entry and exit stacker, an entry and exit shuttle number and storage space data of each cargo are obtained, and operation performance data of the whole line of the high-density stereoscopic warehouse is also obtained; and according to the obtained operation performance data, carrying out iterative optimization on the warehousing scheme and the ex-warehousing scheme aiming at the problems of long warehousing time and congestion, and then carrying out warehousing and ex-warehousing simulation on all orders until an optimal warehousing scheme is obtained.

4. The digital twin-based high-density stereoscopic warehouse slot allocation and scheduling method according to claim 1,

the high-density stereoscopic warehouse takes the lower right side of a top view as an original point, the goods position numbers and the goods shelf numbers are gradually increased towards two sides, the small side of the goods position number is the right side, the large side of the goods position number is the left side, the ground is taken as the original point of the layer number, the goods shelf numbers are gradually increased towards the upper layer number, a roadway refers to a middle shuttle type goods shelf, the goods shelf numbers are the same as the layer number, and the goods position numbers are arranged from small to large, namely a group of goods positions of a shuttle car which freely moves along the direction of the goods position numbers;

the method for calculating the length of the scheduling path comprises the following steps:

acquiring a target roadway goods shelf number, a layer number and a current goods shelf number, layer number and goods position number of an idle shuttle vehicle;

adding the target roadway shelf number and the target roadway layer number, and calculating to obtain the length of the target roadway warehousing path;

judging whether the stacker distributed by the warehousing order is a left stacker or not, if so, calculating the sum of the absolute value of the shuttle car obtained by subtracting the target tunnel goods shelf number from the current goods shelf number, the absolute value of the target tunnel goods shelf number subtracted from the current layer number of the shuttle car and the absolute value of the shuttle car obtained by subtracting the absolute value of the current goods level number from the maximum value of the goods level number to obtain the length of the dispatching path of the shuttle car; if not, calculating the sum of the shuttle car current goods shelf number minus the absolute value of the target roadway goods shelf number, the shuttle car current layer number minus the absolute value of the target roadway goods shelf number and the shuttle car current goods position number to obtain the shuttle car dispatching path length;

calculating the sum of the length of a target roadway warehousing path and the length of a shuttle vehicle dispatching path to obtain the length of the dispatching path;

and returning the length of the dispatching path and the number of the corresponding shuttle car.

5. The digital twin-based high-density stereoscopic warehouse bit allocation and scheduling method as claimed in claim 1, wherein:

the high-density stereoscopic warehouse stipulates that the time for storing orders in one tunnel to leave the warehouse can only be monotonically increased or decreased, namely if the time for storing orders in the same tunnel to leave the warehouse monotonically increases along the positive direction of the goods position number, the time for storing orders in the tunnel to leave the warehouse is increased; if the time for taking out the stored order in the same tunnel monotonically decreases along the positive direction of the goods space number, the time for taking out the stored order in the tunnel is decreased;

the method for judging whether the order delivery time conflicts with the delivery time of the goods orders stored in the roadway comprises the following steps:

judging whether the stored order delivery time of the target roadway is increased progressively or not:

if the stored order delivery time of the target roadway is increased progressively, judging whether the warehousing order is distributed to a left stacker, if so, judging whether the warehousing order delivery time is earlier than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; if the right stacker is the right stacker, judging whether the warehouse-in order delivery time is later than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions;

if the stored order delivery time of the target roadway is decreased progressively, judging whether the warehousing order is distributed to a left stacker, if so, judging whether the warehousing order delivery time is later than the delivery time of the last goods in the warehousing direction, and if so, returning to meet the conditions; if not, returning to the condition which is not met; and if the right stacker is the right stacker, judging whether the warehouse-in order delivery time is earlier than the delivery time of the last goods in the warehouse-in direction, if so, returning to meet the conditions, and if not, returning to not meet the conditions.

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