CN113420951B - Performance evaluation system of double-deep multi-layer intelligent warehouse - Google Patents

Performance evaluation system of double-deep multi-layer intelligent warehouse Download PDF

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CN113420951B
CN113420951B CN202110535032.1A CN202110535032A CN113420951B CN 113420951 B CN113420951 B CN 113420951B CN 202110535032 A CN202110535032 A CN 202110535032A CN 113420951 B CN113420951 B CN 113420951B
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goods
shuttle
time
shipment
total
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CN113420951A (en
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蔺一帅
王颖芝
王亮
王徐华
付涛
刘琪
董永胜
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Xidian University
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
    • G06Q10/06393—Score-carding, benchmarking or key performance indicator [KPI] analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract

According to the performance evaluation system for the double-deep multi-layer intelligent warehouse, provided by the invention, the requirement of large throughput is met by setting a plurality of control variables and a double-hoister working mode, and parameter information and shipment order information in the intelligent warehouse are acquired in a shipment time period; and in the shipment time period of the current shipment order, generating an idle position list based on the goods shelf load rate and the goods position storage state after the last shipment task of the current shipment task in the current shipment order is completed, determining whether the blocked goods exist in front of the shipment goods position corresponding to each shipment task and determining the idle goods position nearest to the blocked goods, and sending the current shipment task to the corresponding shuttle vehicle. And after the shuttle and the elevator finish the shipment task, evaluating various performance indexes of the intelligent warehouse. The invention tracks the execution condition of each order and the running condition of each shuttle and the elevator with finer granularity, has strong practicability and more comprehensive evaluation performance.

Description

Performance evaluation system of double-deep multi-layer intelligent warehouse
Technical Field
The invention belongs to the technical field of intelligent storage, and particularly relates to a performance evaluation system of double-deep multi-layer intelligent storage.
Background
With the vigorous development of Internet electronic commerce, the life cycle of products is continuously shortened, and orders with small batch, multiple batches, multiple varieties and high aging characteristics are continuously increased, so that the storage form is continuously improved. Shuttle systems (SBS/RS) have evolved in response to high throughput and fast response changing order requirements. The performance of the shuttle system determines the quality of the intelligent warehouse, so that the performance evaluation of the shuttle system is particularly important.
The prior art provides a performance evaluation method and device for a multi-layer shuttle system, wherein throughput and order period are calculated respectively by establishing an open loop queuing network model of a reversed vehicle system and an open loop queuing network model of a loop system, and under the condition that the number of layers and the number of lanes are certain, the optimal multi-layer shuttle system is evaluated according to the throughput and order completion period corresponding to the open loop queuing network model.
Because the prior art mainly depends on indexes such as total delivery time, throughput and the like in performance evaluation, relevant index measurement is carried out on the running process of the shuttle car and the elevator, and the performance measurement indexes are not comprehensive; in the prior art, a conceptual model based on a queuing network is used for measuring a single deep shelf, and in an actual warehouse, the double deep shelves are more applied and are not suitable for actual application; in addition, the evaluation method in the prior art has fewer settings for control variables, and more factors influencing the decision of an enterprise decision maker, and the method is not comprehensive enough.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a performance evaluation system for double-deep multi-layer intelligent warehouse. The technical problems to be solved by the invention are realized by the following technical scheme:
the invention provides a performance evaluation system of a double-deep multi-layer intelligent warehouse, which is applied to the double-deep multi-layer intelligent warehouse, wherein each layer of the intelligent warehouse is provided with a shuttle, the performance evaluation system is communicated with each shuttle and a lifter, and the performance evaluation system is used for:
acquiring parameter information and shipment order information in the intelligent warehouse;
wherein the parameter information includes: the storage state of each goods place in each goods shelf, the residual capacity of the buffer zone and the goods shelf load rate; the shipment order information comprises three-dimensional coordinates of shipment goods in the intelligent warehouse;
generating an idle position list for expressing idle positions of a goods shelf based on the goods shelf load rate and the goods shelf storage state after the last goods delivery task of the current goods delivery task in the current goods delivery order is completed in the goods delivery time period of the current goods delivery order;
determining whether blocking goods exist before the goods delivery position corresponding to each goods delivery task according to the three-dimensional coordinates of each goods delivery in the intelligent warehouse and the three-dimensional coordinates of the idle position of the goods shelf;
when the blocked goods exist before the goods are delivered, determining an idle goods position nearest to the blocked goods according to the idle goods position of the goods shelf;
transmitting the three-dimensional coordinates of the goods which are delivered and correspond to the current delivery task, the result of whether the goods are blocked before the goods are delivered, the idle goods space which is nearest to the blocked goods when the result is the existence, and the current delivery task to the corresponding shuttle;
the shuttle is used for receiving the shipment tasks, and taking out the shipment goods from the goods shelf and placing the shipment goods in the buffer zone of the layer when the position of the shipment goods is not blocked according to the result aiming at the shipment tasks of shipment according to the front-back sequence; when the result is that the blocking goods exist at the position of the goods to be delivered, the blocking goods are moved to the goods position closest to the blocking goods, the goods to be delivered are returned to the position of the goods to be delivered, and the goods to be delivered are taken out and placed in the buffer area of the layer;
the hoisting machine is used for conveying cargoes in the buffer area of each layer to the ground according to the previous service principle;
the performance evaluation system evaluates various performance parameters of the double-deep multi-layer intelligent warehouse.
Optionally, the shuttle selects the goods to be delivered from the goods shelf to be placed in the buffer area of the layer according to the principle of first come first serve, and the buffer area comprises:
determining whether each buffer area is full based on the residual capacity of the buffer areas at the two sides;
when the buffer areas at the two sides are not full, determining the nearest buffer area of each shipment, and placing the shipment in the buffer area nearest to the shipment;
when only one buffer area on two sides is not full, the goods to be delivered are placed in the buffer areas which are not full;
when the buffer areas at the two sides are full, the tasks of the hoisting machines at the two sides are compared, and the goods to be delivered are placed in the buffer areas corresponding to the hoisting machines with less goods delivery tasks.
Optionally, the performance evaluation system is further configured to: and when the shuttle vehicle has the blocking goods at the position of the goods to be delivered as a result, the blocking goods are moved to the goods position nearest to the blocking goods, and then the idle position list is updated.
Wherein the parameter information further includes: layer height h, row width c, shelf layer number N t Number of columns N of shelves c Maximum speed of shuttle
Figure BDA0003069272350000032
Maximum speed of elevator->
Figure BDA0003069272350000033
Acceleration a of shuttle s Acceleration a of elevator l The goods taking and placing time t of the shuttle g Total shipment task number N task 。
Optionally, the evaluating each performance parameter of the dual-deep multi-layer intelligent warehouse includes:
based on the parameter information, the total waiting time of the shuttle, the total idle time of the elevator, the total spending time of the shuttle, the blocked goods rearranging time, the total spending time of the elevator and the total ex-warehouse time are evaluated.
Optionally, the evaluating the total waiting time of the shuttle vehicle includes: calculating a total waiting time of the shuttle vehicle using the first evaluation expression;
the first evaluation expression is:
Figure BDA0003069272350000031
wherein t is w In order for the total waiting time to be a matter of time,
Figure BDA0003069272350000041
Figure BDA00030692723500000414
for the delivery starting time of the shuttle, +.>
Figure BDA00030692723500000415
For the moment when the shuttle arrives at the buffer zone, +.>
Figure BDA00030692723500000416
For the moment when goods are placed in the buffer, +.>
Figure BDA0003069272350000042
For shuttle waiting time, +.>
Figure BDA0003069272350000043
Task i Representing the ith shipment task, +.>
Figure BDA0003069272350000044
Indicating the ith shipment task at layer t,/->
Figure BDA0003069272350000045
Indicating the number of delivery tasks of the shuttle at the t layer, n buffer For the remaining capacity of the buffer area at the current moment, theta i Is indicated at->
Figure BDA00030692723500000417
Status of time buffer, θ i =1 indicates that the buffer is full, θ i =0 indicates that the buffer is not full.
Optionally, the evaluating the total idle time of the elevator includes:
calculating the total idle time of the elevator by using the second evaluation expression;
the second evaluation expression is:
Figure BDA0003069272350000046
wherein t is f In order for the total idle time to be a matter of time,
Figure BDA0003069272350000047
ρ i is indicated at->
Figure BDA0003069272350000048
Status of time buffer, ρ i =1 indicates that the hoist is performing a task ρ i =0 indicates that the elevator is idle, +.>
Figure BDA00030692723500000418
Indicating the moment at which the goods are placed at the target point +.>
Figure BDA00030692723500000419
For the moment the goods are placed into the buffer, i represents the ith shipment task.
Optionally, the evaluating the shuttle total time spent and the blocking cargo rearranging time includes:
using a third evaluation expression, evaluating the blocked cargo rearrangement time;
using a fourth evaluation expression, evaluating the total spent time of the shuttle;
the third evaluation expression is:
Figure BDA0003069272350000049
the fourth evaluation expression is:
Figure BDA00030692723500000410
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA00030692723500000411
for the total time spent of the shuttle, +.>
Figure BDA00030692723500000412
Figure BDA00030692723500000413
Run time for shuttle to reach x from buffer, +.>
Figure BDA0003069272350000051
Representation of
Figure BDA0003069272350000052
Shuttle travel s real The time required; />
Figure BDA0003069272350000053
Is the running time of the shuttle from the current position to the buffer zone which is not on the same side as the starting position,/for the shuttle>
Figure BDA0003069272350000054
Is the blocked cargo rearrangement time, case1 indicates that the elevator is in front of the shelf, case2 indicates that the elevator is behind the shelf, s real For the actual path length of the shuttle to x, < +.>
Figure BDA0003069272350000055
For the ith shipment task in the t layer, x is the shelf row number, y is the shelf row number, < ->
Figure BDA0003069272350000056
s critical Represents the minimum distance to decelerate to 0 after accelerating from 0 to maximum speed.
Optionally, the estimating the total time spent by the elevator based on the parameter information includes:
based on the parameter information, evaluating the total spending time of the elevator using a fifth evaluation expression;
the fifth evaluation expression is:
Figure BDA0003069272350000057
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003069272350000058
indicating the total time spent of the hoisting machine +.>
Figure BDA0003069272350000059
Indicating the running time of the hoisting machine from the target point to the t-layer, < >>
Figure BDA00030692723500000510
s real ＝t*h，/>
Figure BDA00030692723500000511
Optionally, based on the parameter information, estimating the total delivery time includes:
based on the parameter information, evaluating the total delivery time using a sixth evaluation expression;
the sixth evaluation expression is:
Figure BDA00030692723500000512
wherein t is total In order to provide a total time for the delivery,
Figure BDA00030692723500000513
representation for Task i Total running time of elevator, < >>
Figure BDA0003069272350000061
Indicating the total travel time of the shuttle, i indicating the shipment task number,/for the shuttle>
Figure BDA0003069272350000062
Indicating the total idle time of the elevator.
According to the performance evaluation system for the double-deep multi-layer intelligent warehouse, provided by the invention, the requirements of large throughput are met by setting a plurality of control variables and double-hoister working modes, and the parameter information and shipment order information in the intelligent warehouse are obtained; generating an idle position list for expressing idle positions of a goods shelf based on the goods shelf load rate and the goods shelf storage state after the last goods delivery task of the current goods delivery task in the current goods delivery order is completed in the goods delivery time period of the current goods delivery order; determining whether blocking goods exist before the goods delivery position corresponding to each goods delivery task according to the three-dimensional coordinates of each goods delivery in the intelligent warehouse and the three-dimensional coordinates of the idle position of the goods shelf; when the blocked goods exist before the goods are delivered, determining an idle goods position nearest to the blocked goods according to the idle goods position of the goods shelf; and sending the three-dimensional coordinates of the goods to be delivered corresponding to the current delivery task, the result of whether the goods to be delivered are blocked or not before the goods to be delivered are positioned, the idle goods position closest to the goods to be blocked when the result is the existence, and the current delivery task to the corresponding shuttle, and evaluating various performance indexes of the intelligent warehouse after the shuttle and the elevator finish the delivery task, wherein the execution condition of each order and the running condition of each shuttle and the elevator are tracked in a finer granularity. Therefore, the performance evaluation system provided by the invention has strong practicability and more comprehensive evaluation performance.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a side view of a multi-deck dual deep shuttle single hoist system;
FIG. 2 is a top view of a multi-deck dual deep shuttle single lift system;
FIG. 3 is a side view of a multi-deck dual deep shuttle dual hoist system;
FIG. 4 is a side view of a multi-deck dual deep shuttle dual hoist system;
FIG. 5 is a flow chart of the performance evaluation system of the present invention;
FIG. 6a is a flow chart of the performance evaluation system of the present invention in cooperation with a shuttle car, elevator;
FIG. 6b is a flow chart of the elevator process of the present invention;
FIG. 7 is a flow chart of a shuttle processing of the present invention;
FIG. 8 is a graph of the operating characteristics of the apparatus of the present invention;
FIG. 9 is a shuttle motion trajectory for a single hoist configuration of the present invention;
fig. 10 is a traveling track of a shuttle in the dual hoist configuration of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
Example 1
The performance evaluation system of the double-deep multi-layer intelligent warehouse is applied to the double-deep multi-layer intelligent warehouse, each layer of the intelligent warehouse is provided with a shuttle, and the performance evaluation system is communicated with each shuttle and a lifter.
With reference to fig. 1-4. The intelligent warehouse consists of goods shelves, a hoister, a shuttle, a buffer area, a warehouse-in platform, a conveyor belt and other components. The warehouse management system monitors the running state of each component, coordinates the motion track and the state of each component according to the input-output task list, and the performance evaluation system of the invention communicates with the elevator and the shuttle machine through the warehouse management system. The application scene of the invention comprises a double-elevator application scene and a single-elevator application scene.
In a single hoist application scenario, fig. 1 is a side view of a multi-deck double-deep shuttle single hoist configuration, and fig. 2 is a top view of the multi-deck double-deep shuttle single hoist configuration, with the hoist being responsible for vertical movement and the shuttle being responsible for horizontal movement. A shuttle is arranged in the elevator, and is responsible for taking goods from the buffer area to be delivered to the I/O point when the elevator goes out of the elevator, and taking the goods from the I/O point to be delivered to the buffer area when the elevator goes in the elevator. The shuttle car runs on the track between the goods shelves, and when the goods are delivered out of the warehouse, the goods at the specific goods shelf position are delivered to the buffer areas, one buffer area is arranged on each side of the roadway, and when the transported goods are in the second goods channel and the corresponding first channel is provided with the goods, the goods are required to be blocked to be placed at the idle positions, so that the goods in the second goods channel are ensured to be normally delivered out of the warehouse; when the goods are put in the warehouse, the goods in the buffer area are transported to the appointed position, and the goods are generally put in the second goods channel from the second goods channel until the goods are fully put in the second goods channel, so that the situation of blocking the goods can not occur.
In a double-hoist application scenario, fig. 3 is a side view of a multi-layer double-deep shuttle double-hoist configuration, fig. 4 is a top view of the multi-layer double-deep shuttle double-hoist configuration, one hoist is added behind a goods shelf, and buffer areas and I/O points of each layer are also added compared with fig. 1 and fig. 2, when in warehouse entry, a shuttle sequentially puts goods which are transported to the buffer areas by two hoists according to a first-come first-serve principle into corresponding positions, and when in warehouse exit, the shuttle puts the goods into different buffer areas according to the positions of the goods and the running states of the buffer areas and the hoists so as to balance the task amounts of the hoists at two sides.
As shown in fig. 5, the performance evaluation system is configured to:
s51, acquiring parameter information and shipment order information in the intelligent warehouse;
wherein the parameter information includes: the storage state of each goods place in each goods shelf, the residual capacity of the buffer zone and the goods shelf load rate; the shipment order information comprises three-dimensional coordinates of shipment goods in the intelligent warehouse; layer height h, row width c, shelf layer number N t Number of columns N of shelves c Maximum speed of shuttle
Figure BDA0003069272350000081
Maximum speed of elevator->
Figure BDA0003069272350000082
Acceleration a of shuttle s Acceleration a of elevator l The goods taking and placing time t of the shuttle g Total shipment task number N task
S52, in the shipment time period of the current shipment order, generating a free position list for expressing the free position of the shelf based on the shelf load rate and the storage state of the goods space after the last shipment task of the current shipment task in the current shipment order is completed;
s53, determining whether blocking goods exist before the goods delivery position corresponding to each goods delivery task according to the three-dimensional coordinates of each goods delivery in the intelligent warehouse and the three-dimensional coordinates of the goods shelf idle position;
s54, when the blocked goods exist before the goods are delivered, determining the idle goods position nearest to the blocked goods according to the idle goods position of the goods shelf;
s55, transmitting the three-dimensional coordinates of the goods which are delivered and correspond to the current delivery task, the result of whether the goods are blocked before the goods are delivered, the idle goods position nearest to the blocked goods when the result is the existence, and the current delivery task to the corresponding shuttle;
the shuttle car takes out the goods from the goods shelf and places the goods in the buffer area of the layer according to the order of the goods delivery tasks and aiming at the goods delivery task of each goods delivery, when the result is that the goods are not blocked at the position of the goods delivery; when the result is that the blocking goods exist at the position of the goods to be delivered, the blocking goods are moved to the goods position closest to the blocking goods, the goods to be delivered are returned to the position of the goods to be delivered, and the goods to be delivered are taken out and placed in the buffer area of the layer;
the hoisting machine is used for conveying cargoes in the buffer area of each layer to the ground according to the previous service principle;
s56, the performance evaluation system evaluates various performance parameters of the double-deep multi-layer intelligent warehouse.
Referring to fig. 6a, the free position of the shelf randomly generated in the performance evaluation process of the performance evaluation system of the present invention is not the position of the task to be delivered, a piece of delivered goods is regarded as a delivery task, each delivery task is added to the task queue of the layer of shuttle according to the corresponding layer, the shuttle processes the task according to the FCFS principle, and then enters the shuttle processing sub-flow.
Referring to fig. 6b, firstly, a shuttle moves from a buffer position to a task position, whether the blocked goods are in front of the shuttle is checked, if the blocked goods are moved to the nearest empty position, then the corresponding positions are updated, if the blocked goods are in the layer of shuttle task queue, the positions of tasks in the queue are updated in real time, then the goods are transported to the buffer position, if the buffer is full, the goods are placed in the buffer and released after waiting for a lifter to take out the goods in the buffer, if the buffer is not full, the shuttle is released after the buffer is not fully placed, then the lifter is requested to schedule according to the FCFS principle, and the sub-flow of lifter processing is entered.
As shown in fig. 7, the hoist takes out tasks from the head of the queue in the order of the queue for processing, runs from the I/O point to the shipment layer, takes out the goods, releases the buffer zone, then runs to the I/O point to take out the goods, releases the hoist, thus completing one shipment task, and then sequentially processes other shipment tasks until all tasks are completed.
As an alternative embodiment of the present invention, the shuttle vehicle, according to a first come first served principle, selects a buffer area for placing the goods on the layer from the goods shelf, and includes:
step one: determining whether each buffer area is full based on the residual capacity of the buffer areas at the two sides;
step two: when the buffer areas at the two sides are not full, determining the nearest buffer area of each shipment, and placing the shipment in the buffer area nearest to the shipment;
step three: when only one buffer area on two sides is not full, the goods to be delivered are placed in the buffer areas which are not full;
step four: when the buffer areas at the two sides are full, the tasks of the hoisting machines at the two sides are compared, and the goods to be delivered are placed in the buffer areas corresponding to the hoisting machines with less goods delivery tasks.
It can be understood that in the application scenario of the double-hoister, the double-hoister simulation flow is slightly different in the process flow of the shuttle, and due to the parallel operation of the two hoisters, the proper hoister needs to be selected in the step of taking out the goods from the shuttle and conveying the goods to the buffer zone. The double-elevator simulation flow has three conditions for judgment: 1. and selecting the hoister according to the principle of the nearby task position when the buffer areas at two sides are not full, 2, selecting the hoister with the buffer areas not full when only one buffer area at two sides is not full, and 3, selecting the hoister with the minimum task queue when the buffer areas at two sides are full. The strategy scheduling elevator can ensure that the task quantity of the elevators at two sides can reach balance on the premise that the running time of the shuttle is shortest.
As an alternative embodiment of the present invention, the performance evaluation system is further configured to: and when the shuttle vehicle has the blocking goods at the position of the goods to be delivered as a result, the blocking goods are moved to the goods position nearest to the blocking goods, and then the idle position list is updated.
According to the performance evaluation system for the double-deep multi-layer intelligent warehouse, provided by the invention, the requirement of large throughput is met by setting a plurality of control variables and a double-hoister working mode, and parameter information and shipment order information in the intelligent warehouse are acquired in a shipment time period; and in the shipment time period of the current shipment order, generating an idle position list based on the goods shelf load rate and the goods position storage state after the last shipment task of the current shipment task in the current shipment order is completed, determining whether the blocked goods exist in front of the shipment goods position corresponding to each shipment task and determining the idle goods position nearest to the blocked goods, and sending the current shipment task to the corresponding shuttle vehicle. And after the shuttle and the elevator finish the shipment task, evaluating various performance indexes of the intelligent warehouse. The invention tracks the execution condition of each order and the running condition of each shuttle and the elevator with finer granularity, has strong practicability and more comprehensive evaluation performance.
The evaluation of the performance parameters of the double-deep multi-layer intelligent warehouse comprises the following steps:
based on the parameter information, the total waiting time of the shuttle, the total idle time of the elevator, the total spending time of the shuttle, the blocked cargo rearranging time, the total spending time of the elevator, and the total ex-warehouse time are evaluated.
Table 1 below shows the sign meaning used in evaluating various performance parameters:
TABLE 1 symbol meanings
Figure BDA0003069272350000111
Figure BDA0003069272350000121
According to the performance evaluation process, the invention analyzes a shipment task
Figure BDA0003069272350000122
Critical moments in the execution process. As listed in table 2, there are five key moments.
TABLE 2 Critical moments
Figure BDA0003069272350000123
1. Shuttle waiting time:
the evaluating the total waiting time of the shuttle vehicle includes: calculating a total waiting time of the shuttle vehicle using the first evaluation expression;
the first evaluation expression is:
Figure BDA0003069272350000131
wherein t is w In order for the total waiting time to be a matter of time,
Figure BDA0003069272350000132
Figure BDA0003069272350000133
Figure BDA00030692723500001316
for the delivery starting time of the shuttle, +.>
Figure BDA00030692723500001317
For the moment when the shuttle arrives at the buffer zone, +.>
Figure BDA00030692723500001318
For the moment the goods are placed into the buffer,
Figure BDA0003069272350000134
for shuttle waiting time, +.>
Figure BDA0003069272350000135
Task i Represents the ith outletCargo task->
Figure BDA0003069272350000136
Indicating the ith shipment task at layer t,/->
Figure BDA0003069272350000137
Indicating the number of delivery tasks of the shuttle at the t layer, n buffer For the remaining capacity of the buffer area at the current moment, theta i Is indicated at->
Figure BDA00030692723500001319
Status of time buffer, θ i =1 indicates that the buffer is full, θ i =0 indicates that the buffer is not full.
Wherein, for the shuttle waiting time, the motions of each layer of the shuttle are independent and parallel, so that only one layer of the task queue is considered when analysis is performed. For a pair of
Figure BDA0003069272350000138
For example, a +>
Figure BDA0003069272350000139
And->
Figure BDA00030692723500001320
The moments are identical because the shuttle will task +.>
Figure BDA00030692723500001310
Immediately after the corresponding goods are placed in the buffer, the treatment is started +.>
Figure BDA00030692723500001311
Task, in->
Figure BDA00030692723500001321
And->
Figure BDA00030692723500001322
The waiting time of the shuttle is generated, and the waiting time of the shuttle can be obtained as follows:
Figure BDA00030692723500001312
in the formula (1)
Figure BDA00030692723500001313
The goods which are placed in the buffer area at the earliest time are taken away by the elevator after being placed in the buffer area, and theta is used i Is indicated at->
Figure BDA00030692723500001323
Status of time buffer, θ i =1 indicates that the buffer is full, θ i =0 indicates that the buffer is not full, so equation (1) can become:
Figure BDA00030692723500001314
the total waiting time of the shuttle is:
Figure BDA00030692723500001315
2. idle time of elevator
Wherein, the evaluating the total idle time of the elevator comprises: calculating the total idle time of the elevator by using the second evaluation expression;
the second evaluation expression is:
Figure BDA0003069272350000141
wherein t is f In order for the total idle time to be a matter of time,
Figure BDA0003069272350000142
ρ i is indicated at->
Figure BDA0003069272350000143
Status of time buffer, ρ i =1 means liftingThe machine is executing the task ρ i =0 indicates that the elevator is idle, +.>
Figure BDA0003069272350000149
Indicating the moment at which the goods are placed at the target point +.>
Figure BDA00030692723500001410
For the moment the goods are placed into the buffer, i represents the ith shipment task.
For elevator idle time, from the time of arrival of the entire shipment Task at the buffer, so use Task i To represent the ith task in the total shipment tasks. Accordingly, for a double hoist configuration, task is used as viewed from all tasks performed by one hoist i To indicate that one hoist performs the ith task of all tasks. After the elevator places the previous goods at the I/O point, the elevator idle time is generated before the next goods is placed in the buffer area, which corresponds to the table 1
Figure BDA0003069272350000144
And->
Figure BDA00030692723500001411
The idle time of the elevator can be obtained as follows:
Figure BDA0003069272350000145
when the system starts to run, the time from processing the first shipment task until placement in the buffer is unavoidable, using ρ i Is shown in
Figure BDA0003069272350000146
Status of time buffer, ρ i =1 indicates that the hoist is performing a task ρ i =0 indicates that the elevator is idle, so equation (4) can be changed to:
Figure BDA0003069272350000147
so the total idle time of the elevator is:
Figure BDA0003069272350000148
the motion characteristics of the elevator and the shuttle are mainly divided into two cases in actual operation with reference to fig. 8: 1. when the device is distant from the target position s real Not greater than s critical When in use, the method mainly comprises two links: 1. acceleration from 0 to v 0 From v 0 Decelerating to 0; when s is real Greater than s critical When in use, the method comprises three links: 1. acceleration from 0 to v max 2, keep v max Constant speed operation, 3. From v max Decelerating to 0.
3. Shuttle total time spent and blocked cargo rearranging time:
the evaluating the total spent time of the shuttle car and the blocked cargo rearranging time includes: using a third evaluation expression, evaluating the blocked cargo rearrangement time;
using a fourth evaluation expression, evaluating the total spent time of the shuttle;
the third evaluation expression is:
Figure BDA0003069272350000151
the fourth evaluation expression is:
Figure BDA0003069272350000152
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003069272350000153
total time spent on the current shipment order for shuttle, +.>
Figure BDA0003069272350000154
Figure BDA0003069272350000155
Figure BDA00030692723500001514
For the run time of the shuttle from buffer to x,
Figure BDA0003069272350000156
representation for->
Figure BDA0003069272350000157
Shuttle travel s real The time required; />
Figure BDA0003069272350000158
Is the running time of the shuttle from the current position to the buffer zone which is not on the same side as the starting position,/for the shuttle>
Figure BDA0003069272350000159
Is the blocked cargo rearrangement time, case1 indicates that the elevator is in front of the shelf, case2 indicates that the elevator is behind the shelf, s real For the actual path length of the shuttle to x, < +.>
Figure BDA00030692723500001510
For the ith shipment task in the t layer, x is the shelf row number, y is the shelf row number, < ->
Figure BDA00030692723500001511
s critical Represents the minimum distance to decelerate to 0 after accelerating from 0 to maximum speed. />
For the following
Figure BDA00030692723500001512
Assuming that the layer is t, the row is x, the row is y, and the actual path length from the shuttle to x is
Figure BDA00030692723500001513
case1 indicates that the elevator is in front of the shelf, case2 tableShowing the hoister behind the goods shelf and s of the shuttle critical The method comprises the following steps:
Figure BDA0003069272350000161
the running time of the shuttle from the buffer to x is given by equation (7) and equation (8):
Figure BDA0003069272350000162
the shuttle is transporting
Figure BDA0003069272350000163
The total time spent in the whole cycle is:
Figure BDA0003069272350000164
in equation (10), the single hoist configuration only has the first case, i.e., when the departure point is the same as the discharge point, the shuttle has the same return time as the departure time
Figure BDA0003069272350000165
As shown in fig. 9. Both situations can occur in the double elevator configuration, and when the departure point is different from the discharge point, the shuttle is driven to the position of the cargo level, and then the other buffer zone is selected, as shown in fig. 10. In formula (10), the drug is->
Figure BDA0003069272350000166
Is the run time of the second leg shuttle. t is t g Is the time for taking and putting goods by the shuttle,
Figure BDA0003069272350000167
is the cargo rearrangement time.
When the position of the task is the second goods channel and the first goods channel is blocked, the blocked goods rearranging time is generated, the blocked goods are stored in a nearby empty position, and the rearranging time of the goods is formed by three parts: the shuttle is run from the blocking position to the most recent empty position time, the delivery time, and the return to the original mission position time as shown in equation (11). For a double hoist configuration, the most-recently-empty position is the most-recently-empty position selected with respect to the selected hoist after the hoist assigned the current task is determined.
Figure BDA0003069272350000168
In the formula (11), the amino acid sequence of the compound,
Figure BDA0003069272350000169
the time required for running the shuttle vehicle representing the distance from the original position to the nearest empty position is the same as the calculation method of the formula (9).
4. Total time spent on elevator:
based on the parameter information, evaluating the total spending time of the elevator comprises:
based on the parameter information, evaluating the total spending time of the elevator using a fifth evaluation expression;
the fifth evaluation expression is:
Figure BDA0003069272350000171
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003069272350000172
indicating the total time spent of the hoisting machine +.>
Figure BDA0003069272350000173
Indicating the running time of the hoisting machine from the target point to the t-layer, < >>
Figure BDA0003069272350000174
s real ＝t*h，/>
Figure BDA0003069272350000175
s real ＝t*h (12)
Figure BDA0003069272350000176
The running time of the elevator from the I/O point to the t layer can be obtained by the formula (11) and the formula (12):
Figure BDA0003069272350000177
the hoister is transported
Figure BDA0003069272350000178
The total time spent in the whole cycle is:
Figure BDA0003069272350000179
5. total time to warehouse out:
based on the parameter information, evaluating the total delivery time includes: based on the parameter information, evaluating the total delivery time using a sixth evaluation expression;
the sixth evaluation expression is:
Figure BDA00030692723500001710
Figure BDA0003069272350000181
wherein t is total In order to provide a total time for the delivery,
Figure BDA0003069272350000182
representation for Task i Total running time of elevator, < >>
Figure BDA0003069272350000183
Indicating the total travel time of the shuttleBetween, i represents the shipment task number, +.>
Figure BDA0003069272350000184
Indicating the total idle time of the elevator.
When all shipment tasks are executed, the shuttle is executed in parallel, but all tasks are executed sequentially for the elevator, so the total shipment time is calculated by taking the shipment tasks executed by the elevator as a main line, and the total shipment time is formed by the shuttle operation time of the first task, the elevator operation time of all tasks and the elevator idle time according to the angle of the elevator, as shown in (16):
Figure BDA0003069272350000185
the performance evaluation system can be constructed through a simulation experiment to complete the performance evaluation of intelligent storage, and the following conditions are required to be set during the simulation experiment:
1. a random storage strategy is adopted. Under this strategy, the probability that the good is stored to each tier is the same, and the probability that the good is stored in each empty storage location is the same.
2. And ensuring that each layer has a vacant position of the first goods channel so as to prevent the goods delivering task from being positioned in the second goods channel when the goods shelves are full, and adopting a strategy of randomly generating vacant storage positions when the goods shelf load factor is changed on the premise.
3. Only the shipment task is considered, and the shipment task is mainly based on the following two points that firstly, the shipment task is the most critical activity in a transportation system and represents the service level of a warehousing system, and secondly, if the invention can better simulate the shipment task, the invention is also suitable for the warehousing task.
4. Both the elevator and the shuttle are subject to a Point-of-Service-Completion (POSC) strategy, i.e., will stop at the end of the task, and because the invention only considers the shipment task, the elevator will stop at the I/O Point of the system and the shuttle will always stop beside the buffer of the subordinate layer.
5. Both the trolley and the elevator obey the First-Come-First-Service (FCFS) principle.
6. Only single-instruction out-of-store jobs (single-command cycles) are considered.
7. The overall length and height of the pallet can be up to the travel required for the shuttle and hoist to reach maximum speed.
Compared with the prior art, the simulation experiment proves that the invention has the following advantages:
firstly, the invention adopts a simulation technology to simulate the operation flow of the double-deep multi-layer shuttle vehicle system, and experiments prove that the performance evaluation system of the invention is closer to a real warehousing system, and can improve the authenticity of an evaluation result. The condition that the performance is measured by using a conceptual model in the prior art and only a theoretical estimated value can be obtained is overcome.
Secondly, the invention sets a plurality of control variables (such as the layer number, the layer height, the row number, the acceleration of equipment, the maximum speed, the goods placing time, the goods shelf load rate and the like) and also presets two configuration modes of a single elevator and a double elevator for the elevator because the elevator is a bottleneck factor affecting the performance so as to meet the requirement of larger throughput. The more control variables meet the finer granularity configuration requirements of a decision maker, and the problem that the system configuration cannot be comprehensively adjusted due to the fact that the control variables are fewer in the prior art is solved.
Third, the present invention can measure a number of performance indicators, track the execution status of each order and the operation status of each shuttle and elevator (such as order waiting time, execution time, rearrangement of blocked goods, etc.), the operation efficiency of the shuttle and elevator, etc.), so as to help the decision maker to more comprehensively understand the system performance status under given configuration to make better selection. The problem of single system performance index setting in the prior art is solved.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims (3)

1. The utility model provides a performance evaluation system of two dark multilayer intelligent storage is applied to the intelligent storage of two dark multilayer, there is a shuttle in each layer of intelligent storage, its characterized in that, performance evaluation system communicates each shuttle and lifting machine each other, performance evaluation system is used for:
acquiring parameter information and shipment order information in the intelligent warehouse;
wherein the parameter information includes: the storage state of each goods place in each goods shelf, the residual capacity of the buffer zone and the goods shelf load rate; the shipment order information comprises three-dimensional coordinates of shipment goods in the intelligent warehouse;
generating an idle position list for expressing idle positions of a goods shelf based on the goods shelf load rate and the goods shelf storage state after the last goods delivery task of the current goods delivery task in the current goods delivery order is completed in the goods delivery time period of the current goods delivery order;
determining whether blocking goods exist before the goods delivery position corresponding to each goods delivery task according to the three-dimensional coordinates of each goods delivery in the intelligent warehouse and the three-dimensional coordinates of the idle position of the goods shelf;
when the blocked goods exist before the goods are delivered, determining an idle goods position nearest to the blocked goods according to the idle goods position of the goods shelf;
transmitting the three-dimensional coordinates of the goods which are delivered and correspond to the current delivery task, the result of whether the goods are blocked before the goods are delivered, the idle goods space which is nearest to the blocked goods when the result is the existence, and the current delivery task to the corresponding shuttle;
the shuttle is used for receiving the shipment tasks, and taking out the shipment goods from the goods shelf and placing the shipment goods in the buffer zone of the layer when the position of the shipment goods is not blocked according to the result aiming at the shipment tasks of shipment according to the front-back sequence; when the result is that the blocking goods exist at the position of the goods to be delivered, the blocking goods are moved to the goods position closest to the blocking goods, the goods to be delivered are returned to the position of the goods to be delivered, and the goods to be delivered are taken out and placed in the buffer area of the layer;
the hoisting machine is used for conveying cargoes in the buffer area of each layer to the ground according to the previous service principle;
the performance evaluation system evaluates various performance parameters of the double-deep multi-layer intelligent warehouse;
the parameter information further includes: layer height h, row width c, shelf layer number N t Number of columns N of shelves c Maximum speed V of shuttle s max Maximum speed V of hoister l max Acceleration a of shuttle s Acceleration a of elevator l The goods taking and placing time t of the shuttle g Total shipment task number N task ；
The evaluation of each performance parameter of the double-deep multi-layer intelligent warehouse comprises the following steps:
based on the parameter information, evaluating the total waiting time of the shuttle, the total idle time of the elevator, the total spending time of the shuttle, the blocked goods rearranging time, the total spending time of the elevator and the total ex-warehouse time;
the evaluating the total waiting time of the shuttle vehicle includes: calculating a total waiting time of the shuttle vehicle using the first evaluation expression;
the first evaluation expression is:
Figure FDA0004186776370000021
wherein t is w In order for the total waiting time to be a matter of time,
Figure FDA0004186776370000022
for the delivery starting time of the shuttle, T i 2 For the shuttle to arrive at the buffer zone, T i 3 For the moment when goods are placed in the buffer, +.>
Figure FDA0004186776370000023
For shuttle waiting time, +.>
Figure FDA0004186776370000024
Task i Representing the ith shipment task, +.>
Figure FDA0004186776370000025
Indicating the ith shipment task at layer t,
Figure FDA0004186776370000026
indicating the number of delivery tasks of the shuttle at the t layer, n buffer For the remaining capacity of the buffer area at the current moment, theta i Represented at T i 2 Status of time buffer, θ i =1 indicates that the buffer is full, θ i =0 indicates that the buffer is not full;
the evaluating the total idle time of the elevator includes:
calculating the total idle time of the elevator by using the second evaluation expression;
the second evaluation expression is:
Figure FDA0004186776370000027
wherein t is f In order for the total idle time to be a matter of time,
Figure FDA0004186776370000028
ρ i is indicated at->
Figure FDA0004186776370000029
Status of time buffer, ρ i =1 indicates that the hoist is performing a task ρ i =0 indicates that the elevator is idle, T i 5 Representing the moment of the goods placed at the target point, T i 3 I represents an ith shipment task for the time the shipment is placed in the buffer;
the evaluating the shuttle total time spent and the blocked cargo rearranging time includes:
using a third evaluation expression, evaluating the blocked cargo rearrangement time;
using a fourth evaluation expression, evaluating the total spent time of the shuttle;
the third evaluation expression is:
Figure FDA0004186776370000031
the fourth evaluation expression is:
Figure FDA0004186776370000032
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004186776370000033
for the total time spent of the shuttle, +.>
Figure FDA0004186776370000034
Figure FDA0004186776370000035
Run time for shuttle to reach x from buffer, +.>
Figure FDA0004186776370000036
Figure FDA0004186776370000037
Representation of
Figure FDA0004186776370000038
Shuttle travel s real The time required; />
Figure FDA0004186776370000039
Is the running time of the shuttle from the current position to the buffer zone which is not on the same side as the starting position,/for the shuttle>
Figure FDA00041867763700000310
Is the blocked cargo rearrangement time, case1 indicates that the elevator is in front of the shelf, case2 indicates that the elevator is in front of the shelfBehind the shelf, s real For the actual path length of the shuttle to x, < +.>
Figure FDA00041867763700000311
For the ith shipment task in the t layer, x is the shelf row number, y is the shelf row number, < ->
Figure FDA00041867763700000312
s critical Represents the minimum distance to decelerate to 0 after accelerating from 0 to maximum speed;
based on the parameter information, evaluating the total spending time of the elevator comprises:
based on the parameter information, evaluating the total spending time of the elevator using a fifth evaluation expression;
the fifth evaluation expression is:
Figure FDA00041867763700000313
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA00041867763700000314
indicating the total time spent of the hoisting machine +.>
Figure FDA00041867763700000315
Representing the running time of the elevator from the target point to the t-tier,
Figure FDA0004186776370000041
s real ＝t*h，/>
Figure FDA0004186776370000042
the estimating the total delivery time based on the parameter information comprises:
based on the parameter information, evaluating the total delivery time using a sixth evaluation expression;
the sixth evaluation expression is:
Figure FDA0004186776370000043
wherein t is total In order to provide a total time for the delivery,
Figure FDA0004186776370000044
representation for Task i Total running time of elevator, < >>
Figure FDA0004186776370000045
Indicating the total travel time of the shuttle, i indicating the shipment task number,/for the shuttle>
Figure FDA0004186776370000046
Indicating the total idle time of the elevator.
2. The performance evaluation system of claim 1 wherein the shuttle selecting a buffer for placement of shipment on the tier from the shelf on a first come first served basis comprises:
determining whether each buffer area is full based on the residual capacity of the buffer areas at the two sides;
when the buffer areas at the two sides are not full, determining the nearest buffer area of each shipment, and placing the shipment in the buffer area nearest to the shipment;
when only one buffer area on two sides is not full, the goods to be delivered are placed in the buffer areas which are not full;
when the buffer areas at the two sides are full, the tasks of the hoisting machines at the two sides are compared, and the goods to be delivered are placed in the buffer areas corresponding to the hoisting machines with less goods delivery tasks.
3. The performance evaluation system of claim 1 further configured to: and when the shuttle vehicle has the result that the blocking goods exist at the position of the goods which are delivered, the idle position list is updated after the blocking goods are moved away to the goods position closest to the blocking goods.
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