CN114212426A - Warehouse-in and warehouse-out goods position distribution method of track through type dense goods shelf and storage medium - Google Patents

Warehouse-in and warehouse-out goods position distribution method of track through type dense goods shelf and storage medium Download PDF

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Publication number
CN114212426A
CN114212426A CN202111399427.XA CN202111399427A CN114212426A CN 114212426 A CN114212426 A CN 114212426A CN 202111399427 A CN202111399427 A CN 202111399427A CN 114212426 A CN114212426 A CN 114212426A
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goods
warehousing
warehouse
stacker
roadway
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CN114212426B (en
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冷顺天
李琰
王玉梅
李鹏飞
查文安
许俊
段骏
于洪军
罗宇
孔晋
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KSEC Intelligent Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • 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

Abstract

The invention discloses a method for distributing goods in and out warehouse goods positions of a track through type dense goods shelf and a storage medium, wherein the method comprises the following steps: the method comprises the steps of warehousing and ex-warehousing, wherein the warehousing step adopts a mode that according to the number of the unfilled goods positions, the unfilled goods positions are filled according to a warehousing strategy, and then the empty goods positions are used for warehousing and storing the rest materials, so that the number of the empty goods positions with different material attributes is reduced, and the warehousing efficiency and the goods position utilization rate of the whole system are improved; in the step of delivery, the goods position which can be used for delivery is determined firstly, then the materials on the goods position with long storage time and shortest path are taken out preferentially, and when the goods are delivered, the stackers on two sides of the goods position are dispatched flexibly on the premise that the materials on the goods position are completely emptied out of the warehouse as far as possible, so that the delivery efficiency is greatly improved.

Description

Warehouse-in and warehouse-out goods position distribution method of track through type dense goods shelf and storage medium
Technical Field
The invention relates to the technical field of automatic logistics using dense goods shelves, in particular to a distribution method of warehouse-in and warehouse-out goods positions of a track through type dense goods shelf and a storage medium, which are used in a scene that dense goods shelves are used in automatic warehouse storage and vertical warehouse storage in various industries.
Background
The automatic stereoscopic warehouse is widely used in the logistics industry, can realize automatic conveying and automatic information management along with the rapid development of the industry, and changes the direction of intellectualization, the maximum improvement of equipment efficiency and the maximum reduction of equipment and personnel cost to the automatic logistics industry at the present stage. Traditional automatic stereoscopic warehouse adopts the equipment layout mode that a stacker is responsible for single row or double rows of goods position more, and the goods position that every stacker of this kind of mode is responsible for is less, and it must increase the stacker to increase the goods position, and for ordinary conveying equipment, the hardware cost of stacker is than higher to the track region that the stacker walked can't install goods shelves, has increased the area of occupation of area in the automation warehouse invisibly. The stacking machine equipment is added, the occupied area of the warehouse is increased, the number of the relative goods places is increased but is limited, and the construction cost of the warehouse is undoubtedly increased.
In order to solve the above problems, the construction of the dense storage warehouse is gradually increased, as shown in fig. 1, one dense goods shelf is formed by tightly connecting a plurality of goods locations, each goods location is formed by a plurality of storage positions, and the two ends of the plurality of goods locations adopt conveying equipment (a stacker and a shuttle plate or a four-way shuttle) to convey materials. The dense storage warehouse reduces the number of key equipment such as a stacker and the like, increases the goods positions in the effective area, but because the goods positions are closely connected, when a certain goods position is put in or taken out of the warehouse, the goods position can only be carried out from the goods position at the outermost side, greatly reduces the flexibility of the goods position in and out of the warehouse, and is particularly important for the distribution method of the goods positions in and out of the dense storage warehouse. The in-out distribution method directly determines the goods space utilization rate of the dense storage warehouse, the execution efficiency of equipment and the efficiency of the whole automatic warehouse system. However, the existing goods position distribution method has the defects that the distribution of the goods positions is random and lack of regularity, so that empty goods positions are wasted, the goods positions cannot be effectively utilized, and the ex-warehouse efficiency is seriously influenced.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the distribution method of the goods positions of the through-track type dense goods shelf for going in and out of the warehouse, which greatly improves the utilization rate of the goods positions, avoids the waste of the goods positions, and greatly improves the efficiency of going out of the warehouse by adopting an optimal warehouse-out roadway.
According to a first aspect, the invention provides a method for allocating warehouse-in and warehouse-out goods positions of a track-through type dense goods shelf, which comprises a warehouse-in step S1 and a warehouse-out step S2, wherein the warehouse-in and warehouse-out steps comprise a warehouse-in step S1 and a warehouse-out step S2
The binning step S1 includes:
warehousing cargo space determining step S11: checking the storage condition of materials with the same attribute as the warehoused materials in the intensive goods shelf, and dividing the goods positions into unfilled goods positions and empty goods positions;
an unfilled-bin warehousing step S12: the warehousing platform distributes tasks to the roadway where the available goods positions in the not-full goods positions are located, and a stacker of the roadway executes the distributed tasks according to a warehousing strategy;
the warehousing strategy comprises the following steps:
judging the position of the material when the material is conveyed to the goods taking port of the stacker, and if the material is conveyed to the goods taking port of the left stacker, sequentially distributing the storage position on the goods position to the material on the goods taking port of the left stacker from the middle part to the left side; if the materials are conveyed to the right stacker goods taking port, the storage positions on the goods positions are sequentially distributed to the materials on the right stacker goods taking port from the middle part to the right side;
judging whether the storage position allocated by the materials is at the end, if so, directly storing the materials by using a left/right stacker, and otherwise, storing the materials by using a shuttle plate;
lane determination step S13: determining a required roadway set based on the required empty freight position number, and determining a final material warehousing roadway according to the required roadway set and the busyness of the stacker;
empty cargo space warehousing step S14: the warehousing platform sequentially performs task allocation to the warehousing tunnels, each tunnel allocates tasks of the number of storage positions corresponding to the attribute materials, and the stacker executes the warehousing tasks according to the warehousing strategy until all the materials with the attribute are warehoused;
the ex-warehouse step S2 includes:
shipment position determination step S21: determining the number of delivery positions available for delivery according to the total delivery number of the materials with the same attribute in the delivery order;
sorting the delivery positions S22: primarily sorting the delivery goods according to the earliest warehousing time of the materials in the delivery goods, and then re-sorting according to the distance from the delivery platform, wherein the closer the distance is, the closer the ranking is;
a cargo space ex-warehouse step S23: the warehouse-out is carried out according to the sequence until the warehouse-out task is completed; and for any delivery goods location, calling the stackers with low busyness in the stackers at two sides of the goods location to deliver the goods location.
Further, in the warehousing cargo space determination step S11,
available bin set L in unfilled binsXComprises the following steps: l isX＝L0-L1
Required number of empty places QTComprises the following steps:
Figure BDA0003371096470000021
wherein L is0A set of slots indicating that the attribute material storage location is not full; l is1A set of slots indicating that the property material is being shipped; qTotalRepresenting the total number of the attribute materials in the warehousing plan; qLXIndicating a set L of available slots in an unfilled slotXThe actual number of available storage locations; qLocRepresenting the number of storage locations per cargo space.
Further, in the step S12 of warehousing the warehouse with the not-full cargo space, the warehousing platform allocates tasks to the lanes based on a task allocation principle, where the task allocation principle includes:
each warehousing platform is allocated to one roadway at most at a timeLoopA task;
for an unfilled cargo space: judging the storage position and C of the unfilled goods positionLoopIf the storage location of the unfilled location is greater than CLoopIf so, the current warehousing station assigns C to the roadwayLoopAfter the task is finished, selecting the next warehousing station to distribute the task to the roadway until the storage position of the unfilled goods position is less than or equal to CLoopThe warehousing platform distributes tasks of the number of the storage positions of the unfilled goods positions to the roadway;
for empty cargo space: warehousing platform distributing C to current roadwayLoopAfter each task, the next tunnel is circulated to be allocated CLoopA task;
CLoopindicating the roadway locking factor, CLoopIs composed of
Figure BDA0003371096470000031
Wherein Q isLocA storage location number representing each cargo space; qstnThe number of the material warehousing stations with the same attribute is represented.
Further, the determining a lane step S13 includes:
sequencing all material storage roadways with the same attribute according to the busyness of the stacker to obtain a roadway busyness sequence, wherein the smaller the busyness of the stacker is, the closer the ranking is;
obtaining the intersection of the required roadway set, the roadway set formed after the warehousing platform distributes tasks to the empty cargo space and the roadway busyness sequence; if the intersection exists, preferentially selecting the roadway in the intersection as a warehousing roadway; and if no intersection exists, taking the roadway busyness sequence as a warehousing roadway.
Further, the stackers busyness RTaskIs composed of
Figure BDA0003371096470000032
Wherein, JRRepresenting the number of warehousing tasks of the stacker; j. the design is a squareCRepresenting the number of the stacker ex-warehouse tasks; j. the design is a squareTRRepresenting the total number of warehousing tasks of all stackers; j. the design is a squareTCRepresenting the total number of warehousing tasks of all stackers.
Further, in the delivery location determining step S21, the number L of delivery locations available for delivery is determinedPIs composed of
Figure BDA0003371096470000033
Wherein, Q'TotalRepresenting the total delivery amount of the same attribute materials in the delivery order; qMThe quantity of the materials which are stored but not fully stored and have no warehousing task is represented; qLocRepresenting the number of storage locations per cargo space.
Further, in the sorting step S22, the sorted goods space set LSComprises the following steps: l isS＝R×LP
Where R represents the path weight, the larger R, the higher the path priority.
Further, the cargo space warehouse-out step S23 further includes:
calling a stacker with low busyness from the left stacker and the right stacker to execute the warehouse-out task;
and judging the position of the material of the ex-warehouse task in the goods space, if the material is positioned at the end close to a stacker executing the ex-warehouse task, directly taking the goods by using the stacker and conveying the goods out of the warehouse, otherwise, outputting the goods by using the stacker after taking the goods by using a shuttle plate.
According to a second aspect, the invention also provides a computer-readable storage medium having stored thereon a computer program executable by a processor for carrying out the steps of the method as described above.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the distribution method of the goods positions in and out of the warehouse of the track-through type dense goods shelf, the same goods position only stores the materials with the same attribute, and when the goods are warehoused, the mode that the goods positions which are not fully stocked are filled firstly and then the empty goods positions are used is adopted, so that the number of the empty storage positions is greatly reduced, and the utilization rate of the goods positions is improved.
(2) When materials are stored in the empty goods position, the optimal warehousing roadway is adopted for sorting, and the warehousing efficiency and the utilization rate of key conveying equipment are improved.
(3) When the materials are delivered out of the warehouse, the materials on the goods position with long storage time and shortest path are preferentially taken out, and meanwhile, the busyness of the stacker is considered, so that the material quality problem caused by long-time storage of the materials is avoided, and the delivery efficiency is greatly improved.
Drawings
FIG. 1 is a top plan view of a dense storage warehouse;
FIG. 2 is a block flow diagram of the warehousing step provided by the present invention;
FIG. 3 is a schematic flow chart of a warehousing strategy in example 1;
fig. 4 is a state diagram of the stacker in embodiment 1 when executing a warehousing task;
FIG. 5 is a block flow diagram of the ex-warehouse steps provided by the present invention;
FIG. 6 is a flowchart illustrating the delivery step of the cargo space in embodiment 1.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
Example 1
The invention provides a method for distributing warehouse-in and warehouse-out goods positions of a track through type dense goods shelf, which comprises the following steps: and the warehousing step and the ex-warehouse step, wherein the warehousing step adopts a mode of firstly filling the unfilled goods positions and then using the empty goods positions, and the ex-warehouse preferentially takes out the materials on the goods positions with long storage time and shortest path.
Specifically, as shown in fig. 2, the binning step S1 includes:
warehousing cargo space determining step S11: and acquiring a warehousing plan, checking the storage condition of materials with the same attribute as the warehoused materials in the dense goods shelf, and dividing the goods positions into unfilled goods positions and empty goods positions. The empty cargo space set is LX＝L0-L1(ii) a Number of empty positions required
Figure BDA0003371096470000041
Wherein L is0A set of slots indicating that the attribute material storage location is not full; l is1A set of slots indicating that the property material is being shipped; qTotalRepresenting the total number of the attribute materials in the warehousing plan.
An unfilled-bin warehousing step S12: and the warehousing platform distributes tasks to the roadway where the unfilled goods space is located, and the stacker of the roadway executes the distributed tasks according to a warehousing strategy. Because the same goods position has a plurality of storage positions, the goods position can be distributed to a plurality of warehousing tasks at the same time, and because the conveying path and conveying equipment that each goods pass through when going from the warehousing platform to the stacker goods taking port are different, the current sequence that arrives at the stacker goods taking port has differences, therefore, a warehousing strategy is needed when warehousing, and the warehousing strategy specifically is as follows:
as shown in fig. 3 and 4, the position of the material when being conveyed to the stacker goods taking port needs to be judged, if the material is conveyed to the left stacker goods taking port, the storage position on the goods position is sequentially distributed to the material on the left stacker goods taking port from the middle part to the left side (for the goods position which is not full, if the storage position has the material, whether the material exists in the next storage position is judged until the storage position has no material); and if the materials are conveyed to the right-side stacker goods taking opening, the storage positions on the goods positions are sequentially distributed to the materials on the right-side stacker goods taking opening from the middle part to the right side. And then judging whether the storage position allocated by the material is at the end, if so, directly storing the material by using a left/right stacker, and otherwise, storing the material by using a shuttle plate. For example, if material is delivered to the left stacker access port and there is material in the P2, P3 positions, then the P1 position is assigned to the material and the left stacker is used directly to store the material. If the material is conveyed to the right stacker access opening, the position P4 is allocated to the material, and at the moment, a shuttle plate is needed to store the material due to the fact that the position P4 is not at the end. And a mode that the material arrives at the stacker goods taking port to redistribute the specific storage position is adopted, so that the precise storage is realized.
Lane determination step S13: and determining a required roadway set based on the required empty freight position, and determining a final material warehousing roadway according to the required roadway set and the busyness of the stacker. The method specifically comprises the following steps:
sequencing all material storage roadways with the same attribute according to the busyness of the stacker to obtain a roadway busyness sequence, wherein the smaller the busyness of the stacker is, the closer the ranking is;
acquiring an intersection of a required roadway set, a roadway set formed after a warehouse entry platform distributes tasks to empty cargo space and the roadway busyness sequence; if the intersection exists, preferentially selecting the roadway in the intersection as a warehousing roadway; and if no intersection exists, taking the roadway busyness sequence as a warehousing roadway.
For example, the required set of lane orderings is: {1 lane, 2 lane, 3 lane, 4 lane, 5 lane }, the lane ordering set formed by the allocation tasks of the warehousing platform to the empty cargo space is as follows: {3 lanes, 2 lanes, 5 lanes }, the set of sequencing lanes from low busyness to high busyness of the stacker is: {3 lanes, 4 lanes, 2 lanes, 5 lanes, 1 lane }, the optimal lane in the intersection is 3 lanes, and the warehousing tray of the current station is allocated to 3 lanes.
Busyness R of stackerTaskComprises the following steps:
Figure BDA0003371096470000051
wherein, JRRepresenting the number of warehousing tasks of the stacker; j. the design is a squareCRepresenting the number of the stacker ex-warehouse tasks; j. the design is a squareTRRepresenting the total number of warehousing tasks of all stackers; j. the design is a squareTCRepresenting the total number of warehousing tasks of all stackers.
When the warehousing platform distributes tasks to the roadway, the following task distribution principle is followed:
each warehousing platform is allocated to one roadway at most at a timeLoopA task; cLoopIs the locking coefficient of the roadway,
Figure BDA0003371096470000052
wherein Q isLocA storage location number representing each cargo space; qstnThe number of the material warehousing stations with the same attribute is represented.
For an unfilled cargo space: judging the storage position of the not-full goods position and CLoopIf the storage location of the unfilled location is greater than CLoopIf so, the current warehousing station assigns C to the roadwayLoopAfter a task, selecting the next warehousing station to distribute the task to the roadway, and repeating the judging steps until the storage position of the unfilled goods position is less than or equal to CLoopAnd the warehousing platform distributes tasks of the number of the storage positions of the unfilled goods positions to the roadway, and the stacker of the roadway executes the distributed tasks according to a warehousing strategy. The material with the same property is ensured to be uniformly stored in each goods space, no vacant positions exist in the goods spaces of the material with the same property as much as possible, and the utilization rate of the goods spaces is greatly improved.
For empty cargo space: warehousing platform distributing C to current roadwayLoopAfter each task, the next tunnel is circulated to be allocated CLoopAnd (4) each task.
Empty cargo space warehousing step S14: and the warehousing platform sequentially performs task allocation to the warehousing tunnels, each tunnel allocates tasks of the number of storage positions corresponding to the attribute materials, and the stacker executes the warehousing tasks according to the warehousing strategy until all the materials with the attribute are warehoused.
As shown in fig. 5, the ex-warehouse step S2 includes:
shipment position determination step S21: determining the number L of delivery positions available for delivery according to the total delivery number of the materials with the same attribute in the delivery orderP；
Figure BDA0003371096470000061
Q′TotalRepresenting the total delivery amount of the same attribute materials in the delivery order; qMTo representThe quantity of the materials which are stored but not fully stored and have no warehousing task; qLocRepresenting the number of storage locations per cargo space.
Sorting the delivery positions S22: and performing primary sorting on the delivery goods according to the earliest warehousing time of the materials in the delivery goods, and then performing re-sorting according to the distance from the delivery platform, wherein the closer the distance is, the closer the ranking is. Ordered goods space set LS＝R×LPR represents a path weight, and the larger R, the higher the path priority.
A cargo space ex-warehouse step S23: the warehouse-out is carried out according to the sequence until the warehouse-out task is completed; and for any delivery goods location, calling the stackers with low busyness in the stackers at two sides of the goods location to deliver the goods location. Specifically, as shown in fig. 6, the cargo space discharging step S23 includes:
calling busyness R in left stacker and right stackerTaskThe low stacker executes the ex-warehouse task.
And judging the position of the material of the ex-warehouse task in the goods space, if the material is positioned at the end close to a stacker executing the ex-warehouse task, directly taking the goods by using the stacker and conveying the goods out of the warehouse, otherwise, outputting the goods by using the stacker after taking the goods by using a shuttle plate.
Example 2
Finished product vertical warehouse of a certain cigarette factory adopts a track through type dense goods shelf to carry out receiving, dispatching and storing management on finished product cigarettes. Wherein, 3 rows of goods shelves in the middle of the goods space region are through-type intensive goods shelves, each row of goods shelves respectively have 29 rows, 9 layers, and every goods space has 6 tray storage positions, and goods shelves on both sides of the goods space region are single deep level goods shelves, and are 29 rows, 9 layers equally, and every goods space has only one tray storage position, and the single deep level is deposited the goods space as the unusual material that the volume is little, bulk material.
After the finished cigarette is produced in a rolling and packing workshop, stacking of the finished cigarette is carried out through 8 stacking channels of the two mechanical arms, and the finished cigarette is stacked on a tray every 30 full cigarettes. The 8 pile up neatly stations of sharing promptly can carry out the warehouse entry application of a cigarette tray.
After a warehousing plan is obtained, the system adopts 3 stacking channels to stack and warehouse finished cigarette pieces of brand A, the total warehousing quantity is 6000 finished cigarette pieces, 30 cigarette pieces are stacked on each tray, namely 200 cigarette piece trays, and the storage goods positions are required:
200/6 ≈ 34 (pieces)
Brand A has 3 goods spaces in original stock and does not fill 6 trays, 3 goods spaces respectively have idle positions of 2, 3 and 1, and 6 tray storage positions are total. The method preferentially allocates the brand A to the 3 goods spaces with the free positions, and the number of the free goods spaces required after allocation is (each goods space can store 6 trays):
(200-6)/6 ≈ 33 (pieces)
Under the condition that conveying equipment corresponding to 3 through-type dense goods shelves can be used, according to the brand A inventory balance principle, the obtained ordering set of the required roadways is as follows: {1 lane, 2 lane, 3 lane }.
When a pallet applies for warehousing goods positions at a stacking warehousing platform, the system calculates according to the principle that tasks are distributed to roadways by the platform, namely each goods position has 6 pallet storage positions, 3 warehousing application platforms are used by the current brand A for warehousing, and after 2 pallets are distributed to each roadway, the warehousing platform distributes warehousing tasks to the next roadway. If the 1 st and 2 nd trays of the platform are distributed to 1 lane, the 3 rd and 4 th trays are distributed to 2 lanes, and the 5 th and 6 th trays are distributed to 3 lanes, if the 5 th tray is put in storage at the moment, the distributed lane ordering set is as follows: {3 lanes, 1 lane, 2 lanes }.
When the pallet reaches a warehousing application platform to apply for warehousing tasks, the system judges the busy degree of the stacker, selects the sequence of the number of warehousing and ex-warehouse tasks in the total number of tasks from small to large to sequence the roadways, and obtains a roadway sequencing set according to the busy degree of the stacker, wherein if the set is: {3 lanes, 1 lane, 2 lanes }. And selecting the intersection as 3 lanes according to the lanes with the optimal result in the calculation, so that the 3 lanes are locked for task allocation when the tray is put in storage.
And after the 3 lanes are locked for task allocation, the system selects a specific warehousing goods position from the 3 lanes, and if a vacant position exists on the left side of the goods position and the busyness of the left-side stacker is lower than that of the right-side stacker at the moment, the left-side position is allocated for storing the tray. If the distributed position belongs to the end position of the goods space, the system controls the stacker to directly convey and store, and if the distributed position is not the end position of the goods space, the system controls the stacker to place the tray to the end position of the goods space, and then the shuttle plate is used for conveying the tray to the middle storage position of the distributed goods space.
When finished cigarette products are delivered from the finished product vertical warehouse, the system collects the quantity of the finished cigarette product brands A in different orders, for example, 2000 finished cigarette product brands A need to be delivered after collection. According to the method, the system firstly selects the goods positions which meet the delivery conditions and are not completely full in 6 positions for delivery. If there are 2 not full goods positions, each stores 4 trays, 5 trays of a brand cigarette, and each tray is 30, the quantity of the goods positions which need to be delivered and store the full product of a brand at all positions is:
((2000- (4+ 5). times.30)/30)/6 ≈ 10
According to the first-in first-out principle, the system screens out the 10 goods spaces which are put in the warehouse at the earliest and then puts out the warehouse. When each goods position is delivered out of the warehouse, according to the method, the system judges the busyness of the stackers on the two sides of the goods position, the stackers with low busyness are selected for carrying, if the carried trays are arranged at the two ends of the goods position, the stackers are used for carrying directly, if the delivery trays are not arranged at the two ends of the goods position, the shuttle plates are used for carrying the trays to the end of the goods position, and then the stackers are used for carrying out the next section of conveying. The project has 6 delivery ports (6 manipulator unstacking platforms), and the weight of each cargo space relative to the delivery platform is R1～R6The higher the weight is, the more preferentially the outbound station is selected for outbound. The system preferentially distributes the trays to the delivery openings with large weights for unstacking delivery.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.

Claims (9)

1. The distribution method of the warehouse-in and warehouse-out goods positions of the track-through type dense goods shelves is characterized by comprising a warehouse-in step S1 and a warehouse-out step S2, wherein the warehouse-in and warehouse-out goods positions are distributed in the step S2
The binning step S1 includes:
warehousing cargo space determining step S11: checking the storage condition of materials with the same attribute as the warehoused materials in the intensive goods shelf, and dividing the goods positions into unfilled goods positions and empty goods positions;
an unfilled-bin warehousing step S12: the warehousing platform distributes tasks to the roadway where the available goods positions in the not-full goods positions are located, and a stacker of the roadway executes the distributed tasks according to a warehousing strategy;
the warehousing strategy comprises the following steps:
judging the position of the material when the material is conveyed to the goods taking port of the stacker, and if the material is conveyed to the goods taking port of the left stacker, sequentially distributing the storage position on the goods position to the material on the goods taking port of the left stacker from the middle part to the left side; if the materials are conveyed to the right stacker goods taking port, the storage positions on the goods positions are sequentially distributed to the materials on the right stacker goods taking port from the middle part to the right side;
judging whether the storage position allocated by the materials is at the end, if so, directly storing the materials by using a left/right stacker, and otherwise, storing the materials by using a shuttle plate;
lane determination step S13: determining a required roadway set based on the required empty freight position number, and determining a final material warehousing roadway according to the required roadway set and the busyness of the stacker;
empty cargo space warehousing step S14: the warehousing platform sequentially performs task allocation to the warehousing tunnels, each tunnel allocates tasks of the number of storage positions corresponding to the attribute materials, and the stacker executes the warehousing tasks according to the warehousing strategy until all the materials with the attribute are warehoused;
the ex-warehouse step S2 includes:
shipment position determination step S21: determining the number of delivery positions available for delivery according to the total delivery number of the materials with the same attribute in the delivery order;
sorting the delivery positions S22: primarily sorting the delivery goods according to the earliest warehousing time of the materials in the delivery goods, and then re-sorting according to the distance from the delivery platform, wherein the closer the distance is, the closer the ranking is;
a cargo space ex-warehouse step S23: the warehouse-out is carried out according to the sequence until the warehouse-out task is completed; and for any delivery goods location, calling the stackers with low busyness in the stackers at two sides of the goods location to deliver the goods location.
2. The method according to claim 1, wherein in the warehousing cargo space determination step S11,
available bin set L in unfilled binsXComprises the following steps: l isX＝L0-L1
Required number of empty places QTComprises the following steps:
Figure FDA0003371096460000011
wherein L is0A set of slots indicating that the attribute material storage location is not full; l is1A set of slots indicating that the property material is being shipped; qTotalRepresenting the total number of the attribute materials in the warehousing plan; qLXIndicating a set L of available slots in an unfilled slotXThe actual number of available storage locations; qLocRepresenting the number of storage locations per cargo space.
3. The method according to claim 2, wherein in the step S12 of warehousing the unfilled cargo space, the warehousing station allocates tasks to the lanes based on a task allocation principle comprising:
each warehousing platform is allocated to one roadway at most at a timeLoopA task;
for an unfilled cargo space: judging the storage position and C of the unfilled goods positionLoopIf the storage location of the unfilled location is greater than CLoopIf so, the current warehousing station assigns C to the roadwayLoopAfter the task is finished, selecting the next warehousing station to distribute the task to the roadway until the storage position of the unfilled goods position is less than or equal to CLoopThe warehousing stationAllocating tasks of the number of the storage positions of the unfilled goods positions to the roadway by the station;
for empty cargo space: warehousing platform distributing C to current roadwayLoopAfter each task, the next tunnel is circulated to be allocated CLoopA task;
CLoopindicating the roadway locking factor, CLoopIs composed of
Figure FDA0003371096460000021
Wherein Q isLocA storage location number representing each cargo space; qstnThe number of the material warehousing stations with the same attribute is represented.
4. The method of claim 3, wherein the determining a lane step S13 includes:
sequencing all material storage roadways with the same attribute according to the busyness of the stacker to obtain a roadway busyness sequence, wherein the smaller the busyness of the stacker is, the closer the ranking is;
obtaining the intersection of the required roadway set, the roadway set formed after the warehousing platform distributes tasks to the empty cargo space and the roadway busyness sequence; if the intersection exists, preferentially selecting the roadway in the intersection as a warehousing roadway; and if no intersection exists, taking the roadway busyness sequence as a warehousing roadway.
5. The method of claim 4, wherein the stacker busyness RTaskIs composed of
Figure FDA0003371096460000022
Wherein, JRRepresenting the number of warehousing tasks of the stacker; j. the design is a squareCRepresenting the number of the stacker ex-warehouse tasks; j. the design is a squareTRRepresenting the total number of warehousing tasks of all stackers; j. the design is a squareTCRepresenting the total number of warehousing tasks of all stackers.
6. The method according to claim 1, wherein in the shipment location determining step S21, the number L of shipment locations available for shipment is determinedPIs composed of
Figure FDA0003371096460000023
Wherein, Q'TotalRepresenting the total delivery amount of the same attribute materials in the delivery order; qMThe quantity of the materials which are stored but not fully stored and have no warehousing task is represented; qLocRepresenting the number of storage locations per cargo space.
7. The method as claimed in claim 6, wherein in the sorting step S22, the sorted goods space set LSComprises the following steps: l isS＝R×LP
Where R represents the path weight, the larger R, the higher the path priority.
8. The method according to any one of claims 1 to 7, wherein the cargo space ex-warehouse step S23 further comprises:
calling a stacker with low busyness from the left stacker and the right stacker to execute the warehouse-out task;
and judging the position of the material of the ex-warehouse task in the goods space, if the material is positioned at the end close to a stacker executing the ex-warehouse task, directly taking the goods by using the stacker and conveying the goods out of the warehouse, otherwise, outputting the goods by using the stacker after taking the goods by using a shuttle plate.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executable by a processor to implement the steps of the method according to any of claims 1-8.
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