CN113306947A - Shelf shifting method, warehousing system and computer storage medium - Google Patents
Shelf shifting method, warehousing system and computer storage medium Download PDFInfo
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- CN113306947A CN113306947A CN202110676329.XA CN202110676329A CN113306947A CN 113306947 A CN113306947 A CN 113306947A CN 202110676329 A CN202110676329 A CN 202110676329A CN 113306947 A CN113306947 A CN 113306947A
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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
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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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 provides a goods shelf shifting method, which comprises the following steps: s11: calculating the value of each shelf heat attribute based on the initial parameter configuration of the shelf and the storage point; s12, determining the heat attribute of each shelf based on the arrangement sequence of the values of the shelf heat attribute and the storage point ratio; s13: calculating the displacement gain of the goods shelf based on the mismatch degree of the heat attribute of the goods shelf and the heat attribute of the storage point and the displacement distance of the goods shelf; s14: formulating a global displacement scheme of the goods shelf based on the displacement gain of the goods shelf; and S15: assigning a shift task to a truck based on the global shift scheme. By adopting the technical scheme of the invention, the moving distance of the goods shelf can be reduced, the operation time can be shortened, and the accurate and efficient goods shelf shifting can be realized.
Description
Technical Field
The present disclosure relates to the field of warehousing management technologies, and in particular, to a shelf shifting method, a warehousing system, and a computer-readable storage medium.
Background
The storage is an important link in logistics, directly reflects the conditions of materials before and during circulation, and is the basis for enterprises to judge the production and sales conditions.
The main operations of the warehouse are warehousing, on-warehouse management and ex-warehouse operations of goods. The warehousing and ex-warehouse operation time is generally short, and the goods on-warehouse time is long, so the goods on-warehouse management is an important work of the warehouse. The cargo space management means that after the goods enter the warehouse, the reasonable and effective planning and management on how to process, how to place, where to place and the like the goods are carried out. The development of modern warehousing industry increasingly requires that warehouse functions change from original commodity preservation emphasis to commodity circulation emphasis, so that the storage management links of goods feeding, distribution and delivery are very critical, and the requirement on the mobility control of goods in the warehouse is high. The good storage strategy and layout can reduce the distance of warehousing movement, shorten the operation time, ensure the quality of goods and even fully utilize the storage space.
The statements in this background section merely represent techniques known to the public and are not, of course, representative of the prior art.
Disclosure of Invention
In view of one or more of the drawbacks of the prior art, the present invention is directed to a method of shifting a rack, comprising:
s11: calculating the value of each shelf heat attribute based on the initial parameter configuration of the shelf and the storage point;
s12: determining the heat attribute of each shelf based on the arrangement sequence of the values of the shelf heat attribute and the storage point ratio;
s13: calculating the displacement gain of the goods shelf based on the mismatch degree of the heat attribute of the goods shelf and the heat attribute of the storage point and the displacement distance of the goods shelf;
s14: formulating a global displacement scheme of the goods shelf based on the displacement gain of the goods shelf; and
s15: assigning a shift task to a truck based on the global shift scheme.
According to an aspect of the present invention, wherein the step S11 includes:
and calculating the heat attribute value of the goods shelf based on the heat attribute value of each kind of goods on the goods shelf and the number of the occupied positions of the goods.
According to an aspect of the invention, wherein the greater the value of the heat attribute, the higher the heat.
According to an aspect of the invention, wherein the initial parameter configuration of shelves and storage points comprises one or more of a number of shelves, a number of storage points, a value of each heat attribute, or a storage point fraction of each heat attribute.
According to an aspect of the present invention, wherein the step S12 includes: and sorting the shelves according to the heat attribute values of the shelves from large to small, and determining the heat attribute of the shelves by combining the storage point occupation ratio.
According to one aspect of the invention, the full field storage points are partitioned according to heat attributes and storage point fractions and a storage point coordinate system is established according to the distance from the storage points to the workstation.
According to an aspect of the present invention, wherein the step S13 includes:
s13-1: calculating the sum g1 of the mismatching degree of the heat attributes of the two shelves and the respective storage points before the exchange positions of the two shelves;
s13-2: after calculating the exchange positions of the two shelves, the sum g2 of the mismatching degree of the heat attributes of the two shelves and each new storage point;
s13-3: calculating the sum d of the displacement distances of the two goods shelves after the exchange positions of the two goods shelves are calculated based on the coordinate system of the storage point; and
s13-4: calculating the displacement gain h of the two shelves, (g1-g2) -d/(2 x d _ max), wherein d _ max is the full field maximum displacement distance.
According to one aspect of the invention, wherein the degree of mismatch of the heat attribute of a shelf to a point of storage is related to the priority order in which the shelf can store the heat attribute of the point of storage.
According to one aspect of the invention, the thermal attribute mismatch between the shelf and the storage point after shifting is reduced, and shifting is beneficial when the shift gain is greater than 0.
According to an aspect of the present invention, wherein the step S14 includes:
s14-1: taking the storage point with the value of the shelf heat attribute larger than that of the storage point heat attribute as a set E;
s14-2: taking the storage point with the value of the shelf heat attribute smaller than that of the storage point heat attribute as a set F;
s14-3: respectively adding idle storage points into the set E and the set F;
s14-4: calculating the matching gain between any one storage point in the set E and any one storage point in the set F; and
s14-5: and matching the storage points in the set E and the set F by adopting a KM algorithm to obtain a global shifting scheme with the maximum sum of matching gains.
According to an aspect of the present invention, wherein the step S14-4 includes:
when the goods shelves are arranged on the two storage points, the matching gain between the two storage points is the displacement gain of the two goods shelves;
when one of the storage points is idle, the matching gain between the two storage points is the shifting gain of moving one shelf to the other storage point;
when both storage points are free, the matching gain between the two points is set to negative infinity.
According to an aspect of the present invention, the global shifting scheme includes a circular shifting task and a unilateral shifting task, wherein the step S14-5 includes:
when the two storage points which are successfully matched are provided with the goods shelves, an annular displacement task for exchanging the positions of the two goods shelves is generated;
when only one shelf is arranged on two storage points which are successfully matched, a unilateral shifting task for shifting the shelf to the other storage point is generated.
According to an aspect of the present invention, wherein the step S15 includes:
s15-1: acquiring the number n of idle trucks capable of executing the shifting task;
s15-2: when the number of the annular shifting tasks is less than or equal to n, all the annular shifting tasks participate in the allocation of the carrying vehicles;
when the number of the annular shifting tasks is larger than n, if n is an even number, randomly selecting n/2 annular shifting tasks to participate in the allocation of the carrying vehicles; if n is an odd number, (n-1)/2 annular shifting tasks are randomly selected to participate in the allocation of the truck; and
s15-3: and after all the annular shifting tasks are distributed, distributing the single-side shifting task to the idle carrier.
The invention also relates to a storage system comprising:
a plurality of storage points, each storage point having a heat attribute;
a plurality of shelves distributed at the storage point, each shelf having a heat attribute;
a carrier; and
a control device in communication with the cart and configured to know the position of the rack and to perform the rack shifting method as described above.
The invention also relates to a computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the shelf shifting method as described above.
By adopting the technical scheme of the invention, the heat attribute value of the goods shelf is calculated, the heat attribute of the goods shelf is determined, the mismatch degree of the heat attribute of the goods shelf and the storage point is measured to calculate the displacement benefit of the goods shelf, a global displacement scheme is formulated, and displacement tasks are distributed to the transport vehicles, so that accurate and efficient goods shelf displacement is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure. In the drawings:
FIG. 1a is a schematic diagram illustrating a storage point including 2 types of heat attributes according to an embodiment of the present invention;
FIG. 1b is a schematic diagram illustrating a storage point including 3 types of heat attributes according to one embodiment of the present invention;
FIG. 1c shows a schematic diagram of the distance traveled by the shelf according to one embodiment of the invention;
FIG. 1d shows a schematic diagram of a storage point coordinate system of one embodiment of the present invention;
FIG. 2 illustrates a flow diagram of a shelf shifting method of one embodiment of the present invention;
FIG. 3 shows a flowchart of step S13 of the rack shifting method of one embodiment of the present invention;
FIG. 4 shows a flowchart of step S14 of the rack shifting method of one embodiment of the present invention;
FIG. 5 shows a flowchart of step S15 of the rack shifting method of one embodiment of the present invention;
FIG. 6 shows a flow diagram of a shelf shifting method of another embodiment of the present invention;
FIG. 7a is a schematic diagram illustrating a storage point to workstation distance according to one embodiment of the present invention;
FIG. 7b is a schematic diagram illustrating a storage point heat attribute distribution according to one embodiment of the invention;
FIG. 7c is a schematic diagram illustrating a comparison of a pre-shift shelf heat attribute to a storage point heat attribute in accordance with one embodiment of the present invention;
FIG. 7d shows a schematic diagram of a storage point coordinate system of one embodiment of the present invention;
FIG. 7e illustrates a comparison diagram of the shifted shelf heat attribute and the storage point heat attribute in accordance with one embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
The warehousing system comprises storage points, shelves and commodities, which correspond to different heat attributes respectively.
The hot degree attribute of the storage point can be specified by a client, and is generally determined according to the distance between the storage point and the workstation, or the hot degree attribute of the whole field is divided into specified categories according to the distance between the storage point and the workstation. For convenience of description, the storage area is divided into grids, and each grid corresponds to one storage point. FIG. 1a shows that there are 2 kinds of heat attributes of storage points in the system, such as a heat attribute A and a heat attribute B, where the storage point with the heat attribute A is closer to the workstation and the heat is higher; the storage point with the heat attribute of B is far away from the workstation, and the heat is low; FIG. 1B shows that there are 3 types of heat attributes of the storage points in the system, such as a heat attribute A, a heat attribute B, and a heat attribute C, where the storage point with the heat attribute A is closest to the workstation and the heat attribute is the highest; the storage point with the heat attribute of C is farthest from the workstation, and the heat is the lowest. Referring to FIG. 1c, the numbers in the grid represent the travel distance to the workstation, with the storage points traveling distances of 1 or 2 being the hottest (red region), the storage points traveling distance of 3 being the hottest second (yellow region), and the storage points traveling distances of 4-6 being the hottest lowest (blue region).
The popularity of the items may be specified by the customer or may be calculated based on historical picking data for the items. The popularity of the goods shelves needs to be determined according to the popularity and the quantity of the goods stored on the goods shelves, the goods stored on the goods shelves change continuously along with the selection and replenishment, the popularity of the goods shelves can be reasonably calculated, so that the popularity of the goods shelves can be more accurately shifted, and the popularity shifting is further improved to improve the selection efficiency.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The present invention relates to a rack shift method, and as shown in fig. 2, a rack shift method 10 includes:
at step S11: based on the initial parameter configuration of the shelves and the storage points, a heat attribute value is calculated for each shelf.
According to a preferred embodiment of the present invention, the initial parameter configuration of shelves and storage points comprises one or more of the number of shelves, the number of storage points, the value of each heat attribute, or the storage point fraction of each heat attribute.
Specifically, the heat attributes of the commodities, the shelves and the storage points in the warehousing system are m in number, and the value of the ith heat attribute is wiWhere i ∈ (1,2, …, m). According to a preferred embodiment of the present invention, the greater the heat attribute value, the higher the heat.
One method is to set the value w of each heat attribute by the user to ensure that the higher the heat attribute the greater its value of w. For example, when m is 3, i ∈ (1,2,3), and the 1 st heat attribute is a, w1Is set to 6; let the 2 nd heat attribute be B, w2Set to 4; let the 3 rd heat attribute be C, w3Set to 2.
Taking the value of the heat attribute of the warehouse point as an example, w of the heat attribute A1Maximum value, highest heat, nearest to the workstation (refer to the storage point with heat attribute a in fig. 1 b); w of heat property C3The value is smallest, the heat is lowest, and the distance is farthest from the workstation (refer to the storage point with heat attribute C in fig. 1 b).
The value of the heat attribute for the item may be specified by the customer or may be calculated based on historical picking data for the item. For example, for the item with the highest frequency or quantity picked, the value of its heat attribute is greatest; the item that is the least frequently or quantitatively picked has the lowest value of its heat attribute.
Another method for setting the value of the heat attribute is as follows, if the heat attribute values are sorted from high to low according to the heat level:
value w of the ith Heat AttributeiWhen m-i +1, for example, m 3, i 1, the 1 st heat attribute is a, w is calculated13-1+ 1-3; when i is 2, the 2 nd heat attribute is B, and w is calculated23-2+ 1-2; when i is 3, the 3 rd heat attribute is C,calculating w33-3+ 1-1. That is, w of the heat attribute A1Maximum value, highest heat, closest to the workstation (refer to the storage point with heat attribute a in fig. 1 b) or highest picking frequency; w of heat property C3The value is minimum, the heat is lowest, the storage point is farthest from the workstation (refer to fig. 1b with heat attribute C) or the picking frequency is highest.
Two methods of setting the value of the heat attribute are described above, and another method of setting the value of the heat attribute of the rack according to a preferred embodiment of the present invention is described next. Because the heat of the shelf is mainly determined according to the heat of the commodities stored on the shelf and the quantity of the commodities, and the unit volumes of different commodities are greatly different, it is not reasonable to measure the contribution degree of the commodities to the heat attribute value of the shelf directly according to the quantity of the commodities. Because the smallest storage unit in the shelf where the item is stored is a bin (e.g., a tray on the shelf), the degree to which the item contributes to the value of the hotness attribute of the shelf is preferably measured by the number of bins occupied by the item. Different commodities stored in the storage position are equally divided into the storage position, for example, 3 commodities are stored in a certain storage position, and the 3 commodities occupy 1/3 of the storage position no matter how large the occupied volume of the commodities in the storage position is, and the like.
According to a preferred embodiment of the present invention, the value of the heat attribute of a shelf is calculated based on the value of the heat attribute of each item on the shelf and the ratio of the number of library bits occupied by the item.
First, initializing the number K of positions occupied by each kind of goods with heat property in the shelfi0, (i ═ 1,2,. m); then, traversing all non-empty storage positions in the goods shelf, and counting the number q of the types of the goods in the storage positions; then, each commodity in the storage position is traversed, and the number K of the storage positions occupied by the shelves of the heat attribute i of the commodityiIncreasing by 1/q; finally, the heat attribute value V of the shelf is calculated according to the following formula:
wherein，wiThe value of the heat attribute of each commodity is shown, and the larger the value of V, the larger the heat attribute value of the shelf is, the higher the heat of the shelf is, and the heat attribute value of the empty shelf is 0 at the lowest.
In the above description of the calculation method of the heat attribute value of a single shelf, assuming that there are N shelves in the entire field, after the heat attribute value of each shelf is calculated in sequence, it is preferable to create an information table of the heat attribute value of the shelf, and when the type, number, or number of occupied places of the product on the shelf changes, update the heat attribute value of the shelf to maintain the information table.
At step S12: the heat attribute of each shelf is determined based on the rank of the value of the heat attribute of the shelf and the percentage of memory points.
According to a preferred embodiment of the invention, the shelves are sorted from large to small based on their value, and the hot property of the shelf is determined in combination with the storage point ratio
Specifically, based on the initial parameter configuration of the shelves and the storage points, assuming that the number of shelves is N, the shelves in the whole field are sorted according to the values of the heat attributes of the N shelves from large to small, for example, the order is 1, the 1 st shelf and the 2 nd shelf … … are sequentially arranged, and then the number of shelves corresponding to each heat attribute is calculated according to the sorting.
According to a preferred embodiment of the present invention, the number of shelves corresponding to each heat attribute is related to the total number of shelves and the storage point occupation ratio of each heat attribute, and the shelves are allocated according to the storage point occupation ratio of the heat attribute, so as to preferentially satisfy the heat attribute with a higher heat.
Specifically, when the order of the heat attribute values of the shelves falls within (lb)i,ubi]When i is within the left-open/right-close section of 1,2, …, m, the heat attribute of the shelf is the ith class, wherein,
lb1＝0
lbi＝ubi-1
wherein the interval length is the ratio p of the total number N of shelves to the storage point of the heat attributeiThe product of the heat value and the heat value is rounded up, i.e. the interval length is the number of the shelves corresponding to the heat value. Using a left-open/right-close interval of lb10 is to ensure the storage point ratio piThe heat attribute that is greater than 0 and the highest in heat (i.e., the heat attribute value of order 1) has at least one shelf. For example, N is 5 shelves, i is 3 kinds of heat attributes, i.e., heat attribute a/B/C, and the storage point ratio p of heat attribute a is seti5%, the storage point proportion p of the heat attribute Bi85%, the storage point proportion p of the heat attribute CiWhen the number of shelves is 10%, the number of shelves having three heat attributes:
when i is 1, the heat attribute is a,
lb1＝0，
the value interval of the shelf heat attribute value of the heat attribute a is (0,1), that is, the number of shelves of the heat attribute a is 1, including the 1 st shelf.
When i is 2, the heat attribute is B,
lb2＝ub2-1＝ub1＝1，
the value range of the shelf heat attribute value of the heat attribute B is (1, 6), theoretically, the number of shelves of the heat attribute B is 5, including 2 nd to 6 th shelves, because there are only 5 shelves in total, and the heat attribute A is divided into 1 shelf, the number of shelves of the heat attribute B can only be 4, including 2 nd to 5 th shelves.
When i is 3, the heat attribute is C,
lb3＝ub3-1＝ub2＝6，
the value interval of the number of shelves of the heat attribute C is (6, 7), theoretically, the number of shelves of the heat attribute C is 1, including the 7 th shelf, but since there are only 5 shelves in total, the heat attribute a is divided into 1 shelf, and when the heat attribute B is divided into 4 shelves, the number of shelves of the heat attribute C is only 0.
The above description of the calculation method of the value of the heat attribute of the rack and the method of determining the heat attribute of each rack has been presented by way of preferred embodiments, and the following description continues with the other steps of the rack shifting method 10.
At step S13: and calculating the displacement gain of the goods shelf based on the mismatch of the heat attribute of the goods shelf and the heat attribute of the storage point and the displacement distance of the goods shelf.
The shelf shift gain is an index for judging whether the shelf needs to be shifted, selecting a shift target storage point and the overall optimality of mutual shifting of the multiple shelves. For a shift of a single shelf, if the shift gain is greater than 0, it is indicated that the shift is advantageous; if the shift gain is less than 0, it is useless. Likewise, for a mutual shift of multiple shelves, it is advantageous to state a global shift if the total gain of shifts is greater than 0; if the total gain of the shift is less than 0, it is not reasonable to indicate the overall shift.
First, the shelf needs to be aligned with the storage point. For each shelf with the heat attribute, the shelves with the heat attribute can be stored according to the priority order of the heat attribute of the storage position designated by the user, for example, when the designated priority order is { B: [ B, A, C, D ] }, the shelf with the heat attribute B is stored at the storage point with the heat attribute B preferentially, then stored at the storage point with the heat attribute A, then stored at the storage point with the heat attribute C, and finally stored at the storage point with the heat attribute D. The set of priority orders may also be referred to as a candidate set of hot property attributes for the storage points that the shelf may hold.
The hot property of the storage point can be determined according to the distance between the storage point and the workstation besides the user specification. According to a preferred embodiment of the invention, the full field storage points are partitioned according to heat attributes and storage point occupancy and a storage point coordinate system is established according to the distance from the storage points to the workstation. Referring to fig. 1b, a storage point coordinate system is established with the lower left storage point as the origin, that is, the coordinates of the lower left storage point are (0,0), and the coordinates of the upper right storage point are (4,3), which can be understood as moving from the origin to the right by a distance of 4 storage points, and then moving upward by a distance of 3 storage points.
According to a preferred embodiment of the present invention, wherein the shelf to point-of-storage heat attribute mismatch is related to a priority order of point-of-storage heat attributes that the shelf may store. For convenience of description, taking an example that one storage point stores one shelf, the hot property mismatch of the shelf and the storage point thereof is obtained according to the sequence value of the hot property of the storage point where the shelf is located in the priority sequence, that is, the sequence value (starting from 0) in the candidate set of hot property of the storage location of the shelf. For example, the candidate set is { B: [ B, A, C, D ] }, wherein the first letter B represents the heat attribute of the shelf, four letters in parentheses represent the storage point heat attribute set which can be stored by the shelf, and the sequence of the four letters represents the priority sequence. When the goods shelf with the heat attribute B is stored in the storage point with the heat attribute B, the sequence value is 0, and the mismatching degree is 0, namely the goods shelf is matched; when the storage point with the heat attribute of A is stored, the sequence value is 1, and the mismatching degree is 1; when the storage point with the heat attribute of C is stored, the sequence value is 2, and the mismatching degree is 2; when the storage point with the heat attribute D is stored, the order value is 3, and the degree of mismatch is 3. Specifically, if there is no shelf on the storage point, the rank value of the heat attribute of the storage point in the shelf storable position heat attribute candidate set is set to 0.
At step S13: and calculating the displacement gain of the goods shelf based on the mismatch of the heat attribute of the goods shelf and the heat attribute of the storage point and the displacement distance of the goods shelf.
Fig. 3 shows a flowchart of step S13 of the shelf shifting method according to one embodiment of the present invention, which includes:
at step S12-1: the sum g1 of the thermal attribute mismatches of two shelves to their respective storage points before calculating the two shelf swap positions. Before shifting, according to the respective sequence values of the two shelves in the storable storage point heat attribute candidate set, obtaining the heat attribute mismatching degree of the two shelves and the storage point thereof respectively, and then summing to obtain g 1.
At step S12-2: after calculating the two shelf exchange positions, the sum g2 of the thermal attribute mismatch of the two shelves and each new storage point. After shifting, according to the respective sequence values of the two shelves in the storable storage point heat attribute candidate set, respectively acquiring the heat attribute mismatching degrees of the two shelves and the storage points thereof, and then summing to obtain g 2.
The thermal attribute mismatch reduction values (g1-g2) with the respective storage points before and after the two shelf exchange positions are obtained through steps S12-1 and S12-2, the more the mismatch is reduced (greater than 0), the more beneficial the shift is, the higher the shift gain is.
At step S12-3: and calculating the sum d of the displacement distances of the two goods shelves after the exchange positions of the two goods shelves are calculated based on the coordinate system of the storage point. For example, the shelf stored in the lower left storage point (0,0) is switched between positions stored in the upper right storage point (4,3), and when the shelf stored in the lower left storage point moves to the upper right storage point, the shift distance is 4+3 — 7; when the goods shelf stored in the upper right storage point moves to the lower left storage point, the displacement distance is 4+ 3-7; the sum of the displacement distances d of the two pallets is 7+ 7-14. The smaller the displacement distance required for two shelf exchange positions, the greater the displacement gain.
At step S12-4: the displacement gain h of the two shelves is calculated as (g1-g2) -d/(2 x d _ max), where d _ max is the full field maximum displacement distance.
According to a preferred embodiment of the invention, the thermal attribute mismatch between the shelf and the storage point after the shift is reduced, and the shift is beneficial when the shift yield is greater than 0.
In the above, the shift gain of the two shelf exchange positions is calculated based on the degree of mismatch of the heat attributes of the shelves and the storage points before and after the shift and the shift distance. According to the displacement gain calculation method of the two shelf exchange positions, the first priority target of the heat displacement is to reduce the mismatch degree of the heat attribute between the shelf and the storage point, and the second priority target is to reduce the displacement distance of the shelf. In practical application, the position exchange of the whole shelf needs to be comprehensively considered to find the global shifting scheme with the largest shifting gain.
At step S14: and formulating a global shifting scheme of the goods shelf based on the shifting gain of the goods shelf.
When the shelf heat attribute is the same as the storage point heat attribute, the shelf has reached the optimal position, that is, the degree of mismatch between the shelf and the storage point heat attribute is 0, and does not need to participate in shifting. Fig. 4 shows a flowchart of step S14 of the shelf shifting method according to one embodiment of the present invention, which includes:
at step S14-1: the storage point having the value of the shelf heat attribute larger than the value of the storage point heat attribute is set as a set E. Taking the example of one storage point storing one shelf, the heat attribute is assumed to be A/B/C/D, and the storage point is ordered to be A > B > C > D according to the magnitude of the heat attribute value. And (4) grouping the shelves needing to be shifted according to the mismatching degree, and when the value of the shelf heat attribute is greater than that of the storage point heat attribute, classifying the storage points meeting the conditions into a set E.
At step S14-2: the storage point having the value of the shelf heat attribute smaller than the value of the storage point heat attribute is set as a set F. That is, the shelves to be shifted are grouped according to the degree of mismatch, and when the value of the shelf heat attribute is smaller than the value of the storage point heat attribute, the storage points meeting the condition are grouped into the set F.
At step S14-3: and respectively adding free storage points into the set E and the set F. The storage points that do not have storage shelves are added to set E and set F, respectively. Preferably, to facilitate the shifting of the shelves in sets E and F relative to each other, it is possible to ensure that the number of storage points in both sets is approximately the same when allocating free storage points.
At step S14-4: and calculating the matching gain between any one storage point in the set E and any one storage point in the set F. According to a preferred embodiment of the present invention, the method for calculating the matching gain between any one of the storage points in the set E and any one of the storage points in the set F comprises: when the goods shelves are arranged on the two storage points, the matching gain between the two storage points is the displacement gain of the two goods shelves; when one of the storage points is idle, the matching gain between the two storage points is the shifting gain of moving one shelf to the other storage point; when both storage points are free, the matching gain between the two points is set to negative infinity.
At step S14-5: and matching the storage points in the set E and the set F by adopting a KM algorithm to obtain a global shifting scheme with the maximum sum of matching gains. Based on the matching gain obtained in step S13-4, the storage points in the set E and the storage points in the set F are matched by an algorithm, with the matching target being that the total matching gain is maximized, thereby obtaining a plurality of shift schemes, each shift scheme including a plurality of sets of matching results, canceling the matching results having a matching gain of 0 or less, and retaining the matching results having a matching gain of 0 or more. Then, the matching gains of the multiple sets of matching results in each shifting scheme are summed, and the shifting scheme with the largest sum of the matching gains is selected as the optimal global shifting scheme. Wherein, the algorithm used is, for example, KM algorithm, and other algorithms that can be used for matching are also within the scope of the present invention.
The global shift scheme established above is based on the storage positions of the two sets of shelves being matched with each other two by two and exchanging the storage positions, or the full-field storage points may be divided into a plurality of sets, for example, into three sets, based on the storage positions of the three sets of shelves being matched with each other in a circular manner and exchanging the storage positions, or the operation of dividing the full-field storage points into two or more sets may be performed in step S13, which are all within the scope of the present invention.
According to a preferred embodiment of the invention, the shelf global shift scheme comprises generating shift tasks: when the two storage points which are successfully matched are provided with the goods shelves, the positions of the two goods shelves are exchanged, two shifting tasks are generated at the moment, and because the starting points and the ending points of the two tasks are the final starting points of the opposite sides, the tasks of the type are marked as an annular task group, namely the annular shifting tasks for exchanging the positions of the two goods shelves are generated; when only one goods shelf is arranged on the two storage points which are successfully matched, the goods shelf is moved to the other storage point, and a shifting task is generated and recorded as a unilateral shifting task. Based on the generated shift task, the shift task is assigned to a truck (e.g., AGV). The unilateral shift task can be executed by one transporting AGV at any time, and the annular task group comprising two shift tasks needs to be executed by the two transporting AGVs at the same time, because when one of the shift tasks reaches the target storage point, if the other shift task is not executed, the storage point is continuously occupied, the reached goods shelf can wait indefinitely, and the resources for transporting the AGVs are occupied.
At step S14: and allocating the shifting tasks to the trucks based on the formulated shelf global shifting scheme.
Fig. 5 shows a flowchart of step S15 of the shelf shifting method according to one embodiment of the present invention, which includes:
at step S15-1: acquiring the number n of idle trucks capable of executing the shifting task;
at step S15-2: the method comprises the following steps of preferentially distributing tasks of a ring task group, wherein the steps comprise three judgment conditions: when the number of the annular shifting tasks is less than or equal to n, all the annular shifting tasks participate in the allocation of the carrying vehicles; when the number of the annular shifting tasks is larger than n, and n is an even number, randomly selecting n/2 annular shifting tasks to participate in the allocation of the carrying vehicles; when the number of the circular shifting tasks is larger than n, and n is an odd number, (n-1)/2 circular shifting tasks are randomly selected to participate in the allocation of the trucks. This step is repeated until all tasks of the ring task group have been assigned
At step S15-3: and after all the annular shifting tasks are completed, distributing the single-side shifting task to the idle carrier. To balance the efficiency of performing tasks and increase the utilization of the trucks, one truck may correspond to multiple shift tasks, i.e., each truck may be time-multiplexed.
While the shelf-shifting method 10 has been described above in connection with steps S11-S15, it will be understood by those skilled in the art that the present invention is not limited to the order of execution of the steps. In order to understand the technical solution of the present invention, the following is further explained by a complete example.
Fig. 6 shows a flowchart of a shelf shifting method according to an embodiment of the present invention, and the shelf shifting method 20 includes:
at step S21: initial parameter configurations for the shelves and storage points are obtained. The warehouse comprises 1 workstation, 20 shelves and 20 storage points, the heat degree attributes of the commodities/shelves/storage points are 3 types, and the heat degree attributes are sorted from high to low according to the following order: a > B > C.
A, B, C storage point occupation ratio p of three heat attributesi20%, 25%, 55%, respectively, corresponding to the values w of the three heat attributesiRespectively 3,2 and 1. Generally, the attribute with higher heat degree has smaller storage point occupation ratio, and the heat degree of different storage points can be adjusted correspondingly according to the requirement.
After the full field initial parameter configuration is obtained, the value of the heat attribute of each shelf is calculated and the heat attribute of the shelf is determined at step S22.
Assuming that there are 6 storage spaces in a shelf, 6 kinds of commodities are stored together, the commodity type names are Sku1 and Sku2 … … Sku6, the number behind the commodity type name represents the number of the commodities, and the commodities and the number stored in each storage space are shown in table 1:
TABLE 1
The hot property of the product Sku1 is a, the hot properties of the products Sku2 and Sku3 are both B, and the hot properties of the products Sku4, Sku5, and Sku6 are all C.
Different commodities stored in the storage position are equally divided into the storage position, and the number K of the storage positions occupied by the three heat attributes of the goods shelf is calculatediTraversing each bin position in the shelf from left to right, top to bottom:
when i is equal to 1, calculating the number K of the library bits occupied by the heat attribute A1Because the heat attribute of the commodity Sku1 is A, the commodity Sku1 monopolizes the 1 st bin bit and occupies the 2 nd bin bit of 1/2, does not occupy other bin bits, and K is summed according to the 1 st to 6 th bin bits1＝1+1/2+0+0+0+0＝3/2；
When i is 2, calculating the occupied library bit of the heat attribute BNumber K2Because the hot property of the product Sku2 and the product Sku3 is B, the product Sku2 occupies the 2 nd bin position of 1/2, occupies the 3 rd bin position of 1/3, and does not occupy other bin positions; the commodity Sku3 occupies the 3 rd bin position of 1/3 and does not occupy other bin positions, and K is obtained by summing the 1 st to 6 th bin positions2＝0+1/2+2*1/3+0+0+0＝7/6；
When i is 3, calculating the number K of the library bits occupied by the heat attribute C3Because the hot attribute of the commodity Sku4, the commodity Sku5, and the commodity Sku6 is C, the commodity Sku4 occupies the 3 rd bin position of 1/3 and exclusively occupies the 4 th bin position, and does not occupy other bin positions; the commodity Sku5 occupies the 5 th library position of 1/2 and does not occupy other library positions; the commodity Sku6 occupies the 5 th bin position of 1/2 and exclusively occupies the 6 th bin position, does not occupy other bin positions, and K is obtained by summing the 1 st to 6 th bin positions3＝0+0+1/3+1+2*1/2+1＝10/3；
Calculating the heat attribute value V of the goods shelf according to the following formula:
wherein i is 1,2,3, w i3,2,1, then
Thereby obtaining the heat attribute value of the shelf.
And sequentially calculating the heat attribute value of each shelf, and sequencing the shelves according to the sequence of the heat attribute values of the shelves from large to small. When the order of the heat attribute values of the shelves falls within (lb)i,ubi]I is within the left-open/right-close interval of 1,2,3, wherein,
lb1＝0
lbi＝ubi-1
wherein, N is 20, pi＝20％，25％，55％
The number of shelves for the three heat attributes is:
when i is 1, the heat attribute is a,
lb1＝0，
the value range of the shelf heat attribute value of the heat attribute a is (0, 4), that is, the number of shelves of the heat attribute a is 4, including 1 st to 4 th shelves.
When i is 2, the heat attribute is B,
lb2＝ub2-1＝ub1＝4，
the value range of the shelf heat attribute value of the heat attribute B is (4, 9), that is, the number of shelves of the heat attribute B is 5, including the 5 th to 9 th shelves.
When i is 3, the heat attribute is C,
lb3＝ub3-1＝ub2＝9，
the value range of the shelf heat attribute value of the heat attribute C is (9, 20), that is, the number of shelves of the heat attribute C is 11, including the 10 th to 20 th shelves, the heat attribute of the shelf at each storage point is obtained by the above method, and the result is shown in fig. 7C.
Specifically, as shown in fig. 7a, first, the storage location of the whole field is divided into 20 grids, each grid corresponds to a storage point, and the number in the grid represents the distance d from the storage point to the workstation; then, referring to FIG. 7b, the full-field grid is scaled by the ratio of storage points piThe heat is divided into specified categories, wherein the heat attribute A has 4 storage points, the highest heat and the farthest distance from the workstationNear, set to red; the number of the storage points of the heat attribute B is 5, the heat is medium, the distance from the work station is the second time, and the storage points are set to be yellow; the number of the storage points of the heat attribute C is 11, the heat is the lowest, the storage points are farthest from the workstation and are set to be blue; then, one storage point is stored with one shelf, the value of the shelf heat attribute is calculated according to the heat of the commodities stored on the current shelf, the quantity of the commodities and the heat attribute, the heat attribute of the shelf is determined according to the arrangement sequence of the values of all the shelf heat attributes and the storage point ratio, the heat attribute of each storage point and the heat attribute of the corresponding shelf are filled into a grid, and the final result is assumed as shown in fig. 7C, wherein a first letter represents the heat attribute of the shelf, a second letter represents the heat attribute of the storage point, for example, the heat attribute of the shelf and the storage point filled in the lower left grid is C/B, C is the heat attribute of the shelf, and B is the heat attribute of the storage point; finally, a coordinate system is established with the bottom left storage point as the origin, and the coordinates of each storage point are as shown in fig. 7d, for example, the coordinates of the bottom left grid are (0,0), and the coordinates of the top right grid are (4, 3).
The displacement gain of the rack is calculated at step S23. Referring to FIG. 7c, the heat attribute of a portion of the storage points does not match the heat attribute of the shelves and needs to be shifted.
Specifically, for example, the priority order of the storage point heat attributes of the shelves of the three heat attributes is: the storage point heat attribute candidate set preferentially stored by the shelf with the heat attribute of A is [ A, B, C ], the storage point heat attribute candidate set preferentially stored by the shelf with the heat attribute of B is [ B, A, C ], and the storage point heat attribute candidate set preferentially stored by the shelf with the heat attribute of C is [ C, B, A ].
According to the order of the heat attributes of the storage points where the shelves of each heat attribute are preferentially stored, the heat attribute mismatch between the current shelf and the storage point can be calculated, and in combination with fig. 7d and 7C, for example, the shelf and storage point heat attribute of the coordinate (0,0) point is C/B, the heat attribute mismatch is 1, the shelf and storage point heat attribute of the coordinate (3,2) point is a/C, and the heat attribute mismatch is 2. That is, the sum g1 of the degree of mismatch between the heat attribute of the consecutive shelves and the respective storage points before the exchange of the positions is 1+ 2. If the position of the shelf at the (0,0) point and the position of the shelf at the (3,2) point are exchanged, the shelf and storage point hot property attribute at the (0,0) point after the exchange position is (A/B), the hot property mismatch degree is 1, the shelf and storage point hot property attribute at the (3,2) point is C/C, and the hot property mismatch degree is 0. That is, after the positions are switched, the sum g2 of the degree of mismatch between the heat attributes of the consecutive shelves and the respective storage points is 1+ 0.
In conjunction with fig. 7c and 7a, the total distance d required for the shelf movement for the shelf exchange positions of (0,0) point and (3,2) point is 5+ 5.
Since the full-field maximum shift distance d _ max is 7, i.e., the shift distance from the (0,0) point to the (4,3) point, the shelf shift gain h between the (0,0) shelf and the (3,2) point is:
h＝(g1-g2)-d/(2*d_max)＝[(1+2)-(1+0)]-(5+5)/2*7＝9/7
a shift gain greater than 0 indicates that shifting is beneficial and can reduce the mismatch between the shelves and the storage points.
A global shift scheme is formulated at step S24.
Screening out the storage points with the shelf heat attribute larger than the storage point heat attribute as a set E, referring to fig. 7c and 7d, wherein the set E comprises coordinate points as follows: (0,1),(1,1),(1,3),(3,2),(4,0).
Screening out the storage points with the shelf heat attribute smaller than the storage point heat attribute as a set F, referring to fig. 7c and 7d, wherein the set F includes coordinate points: (0,0),(1,0),(2,1),(2,2),(3,0).
And calculating the displacement gain of the exchange shelf of any one storage point in the set E and any one storage point in the set F, and recording the displacement gain as the matching gain of the storage point E and the storage point F. And matching the storage points in the set E with the storage points in the set F by adopting a KM algorithm, wherein the matching target is the maximization of the total matching gain. When the storage points in the set E and the storage points in the set F are all successfully matched, the maximum total matching gain is 13, and the optimal matching result is as follows:
The shift task is assigned to the AGV at step S25.
If the number of idle transporting AGVs allocable for the full field is greater than or equal to 10, all shifting tasks can allocate transporting AGVs.
If the number of free transporting AGVs available in the whole field is smaller than 10 and is even, and it is assumed that 6 is available, 3 pairs of shelves requiring position exchange can be randomly selected to participate in the allocation of transporting AGVs.
If the number of empty AGVs available for full allocation is less than 10 and is odd, and if 5 is assumed, 2 pairs of shelves requiring position exchange can be randomly selected to participate in allocation of AGVs.
The process of allocating transport AGVs as above is repeated until all shift tasks have completed transport.
After the global heat shift is completed, the heat attribute distribution of the shelves and the storage points in the whole field is shown in fig. 7e, and it can be seen that the heat attributes of all the shelves are the same as the heat attributes of the storage points where the shelves are located, so that the purpose of efficiently and accurately moving the shelves is achieved.
The invention also relates to a storage system comprising:
a plurality of storage points, each storage point having a heat attribute;
a plurality of shelves distributed at the storage point, each shelf having a heat attribute;
a carrier; and
a control device in communication with the cart and configured to know the position of the rack and to perform the rack shifting method as described above.
The invention also relates to a computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the shelf shifting method as described above.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A method of rack shifting comprising:
s11: calculating the value of each shelf heat attribute based on the initial parameter configuration of the shelf and the storage point;
s12: determining the heat attribute of each shelf based on the arrangement sequence of the values of the shelf heat attribute and the storage point ratio;
s13: calculating the displacement gain of the goods shelf based on the mismatch degree of the heat attribute of the goods shelf and the heat attribute of the storage point and the displacement distance of the goods shelf;
s14: formulating a global displacement scheme of the goods shelf based on the displacement gain of the goods shelf; and
s15: assigning a shift task to a truck based on the global shift scheme.
2. The rack shifting method of claim 1, wherein the step S11 includes:
and calculating the value of the hot attribute of the goods shelf based on the value of the hot attribute of each kind of goods on the goods shelf and the number of the positions occupied by the goods.
3. The shelf shifting method of claim 1, wherein the greater the value of the heat attribute, the higher the heat.
4. The shelf shifting method of claim 1, wherein the initial parameter configuration of shelves and storage points comprises one or more of a number of shelves, a number of storage points, a value of each heat attribute, or a storage point fraction of each heat attribute.
5. The rack shifting method of claim 4, wherein the step S12 includes: and sorting the shelves according to the value of the shelf heat attribute from large to small, and determining the heat attribute of the shelf by combining the storage point occupation ratio.
6. The rack-shifting method of claim 1, further comprising: and partitioning the full-field storage points according to the heat attributes and the storage point proportion and establishing a storage point coordinate system according to the distance from the storage points to the workstation.
7. The rack shifting method of claim 6, wherein the step S13 includes:
s13-1: calculating the sum g1 of the mismatching degree of the heat attributes of the two shelves and the respective storage points before the exchange positions of the two shelves;
s13-2: after calculating the exchange positions of the two shelves, the sum g2 of the mismatching degree of the heat attributes of the two shelves and each new storage point;
s13-3: calculating the sum d of the displacement distances of the two goods shelves after the exchange positions of the two goods shelves are calculated based on the coordinate system of the storage point; and
s13-4: calculating the displacement gain h of the two shelves, (g1-g2) -d/(2 x d _ max), wherein d _ max is the full field maximum displacement distance.
8. The rack shifting method of claim 7, wherein the degree of mismatch of the heat attribute of a rack and a storage point is related to the priority order of the heat attribute of the storage point that the rack can store.
9. The shelf-shifting method of claim 7, wherein the mismatch between the thermal properties of the shifted shelf and the storage point is reduced, and the shifting is beneficial when the shift gain is greater than 0.
10. The rack shifting method of any one of claims 1-9, wherein the step S14 includes:
s14-1: taking the storage point with the value of the shelf heat attribute larger than the value of the storage point heat attribute as a set E:
s14-2: taking the storage point with the value of the shelf heat attribute smaller than the value of the storage point heat attribute as a set F:
s14-3: respectively adding idle storage points into the set E and the set F;
s14-4: calculating the matching gain between any one storage point in the set E and any one storage point in the set F; and
s14-5: and matching the storage points in the set E and the set F by adopting a KM algorithm to obtain a global shifting scheme with the maximum sum of matching gains.
11. The rack shifting method of claim 10, wherein the step S14-4 comprises:
when the goods shelves are arranged on the two storage points, the matching gain between the two storage points is the displacement gain of the two goods shelves;
when one of the storage points is idle, the matching gain between the two storage points is the shifting gain of moving one shelf to the other storage point;
when both storage points are free, the matching gain between the two points is set to negative infinity.
12. The rack shift method of claim 10, the global shift scheme comprising a circular shift task and a one-sided shift task, wherein the step S14-5 comprises:
when the two storage points which are successfully matched are provided with the goods shelves, an annular displacement task for exchanging the positions of the two goods shelves is generated;
when only one shelf is arranged on two storage points which are successfully matched, a unilateral shifting task for shifting the shelf to the other storage point is generated.
13. The rack shifting method of claim 12, wherein the step S15 includes:
s15-1: acquiring the number n of idle trucks capable of executing the shifting task;
s15-2: when the number of the annular shifting tasks is less than or equal to n, all the annular shifting tasks participate in the allocation of the carrying vehicles;
when the number of the annular shifting tasks is larger than n, if n is an even number, randomly selecting n/2 annular shifting tasks to participate in the allocation of the carrying vehicles; if n is an odd number, (n-1)/2 annular shifting tasks are randomly selected to participate in the allocation of the truck; and
s15-3: and after all the annular shifting tasks are distributed, distributing the single-side shifting task to the idle carrier.
14. A warehousing system comprising:
a plurality of storage points, each storage point having a heat attribute;
a plurality of shelves distributed at the storage point, each shelf having a heat attribute;
a carrier; and
a control device in communication with the cart and configured to know the position of the rack and to perform the rack displacement method of any of claims 1-13.
15. A computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the shelf shifting method of any of claims 1-13.
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| WO2022262863A1 (en) * | 2021-06-18 | 2022-12-22 | 上海快仓智能科技有限公司 | Shelf moving method, warehousing system, and computer storage medium |
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| Publication number | Publication date |
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| CN113306947B (en) | 2023-05-05 |
| WO2022262863A1 (en) | 2022-12-22 |
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