CN114229302A - Simulation method for three-dimensional warehouse management system of four-way shuttle - Google Patents
Simulation method for three-dimensional warehouse management system of four-way shuttle Download PDFInfo
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- 238000004088 simulation Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims description 5
- 238000007726 management method Methods 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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Classifications
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention relates to a simulation method of a warehouse management system of a four-way shuttle three-dimensional warehouse, which comprises the steps of establishing a three-dimensional Cartesian coordinate system by taking an inlet of a four-way shuttle three-dimensional shelf as an original point, and storing a coordinate point of each warehouse location in a database; acquiring a coordinate point of each bin in a database, drawing a two-dimensional plane graph of the goods shelf bin of each layer and a four-way shuttle car simulation model according to the coordinate point, and visually displaying on a display device; acquiring simulation PLC module data or reading real task execution related data of a PLC module of the four-way shuttle vehicle in real time, and controlling a simulation model of the four-way shuttle vehicle to synchronously execute operation; marking the four-way shuttle vehicle simulation model for executing the task by a visual first mark, moving the marked four-way shuttle vehicle simulation model along the planned path, and visually displaying the planned path. The method of the invention is flexible and has high expansibility, and is convenient for warehouse managers to master the operation execution state.
Description
Technical Field
The invention belongs to the technical field of intelligent warehousing, and particularly relates to a simulation method of a four-way shuttle three-dimensional warehouse management system.
Background
At present, with the continuous improvement of social productivity, the supply chain logistics field is rapidly developed. The traditional storage mode can not meet the requirement of rapid turnover of materials gradually, and an automatic stereoscopic warehouse is produced at the same time. The function of loading and unloading goods can be realized quickly and accurately through the computer system and the automation equipment.
With the development of intelligent warehousing, some simulation systems capable of being used for displaying the use condition and the equipment state of the warehouse bin appear at present, however, the existing warehouse is mostly a warehouse using a stacker, the stacker is fixed after being built, the efficiency is determined, each stacker can only operate in the lane where the stacker is located, the stacker can only be stopped under abnormal conditions, the bin of the whole lane cannot be used, the simulation model is generally used for displaying, and the real-time performance and the authenticity of detailed data are not very accurate. And to four-way garage of shuttling, because its high flexibility, the dolly can reach any place in the storehouse, and especially when many cars collaborative work, the real-time state of dolly, the position, the direction, the distance and the route of removal, whether the dolly that adds for raising the efficiency in later stage can cause the influence to the dolly of having worked, and warehouse management personnel can't follow the dolly in real time and observe the dolly, can not confirm, also do not have some simple operations to the processing of abnormal conditions and carry out the management and control.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a simulation method for a four-way shuttle three-dimensional warehouse management system.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
(1) establishing a three-dimensional Cartesian coordinate system by taking an inlet of a three-dimensional goods shelf of the four-way shuttle as an original point, and storing a coordinate point of each bin in a database;
(2) acquiring a coordinate point of each bin in a database, drawing a two-dimensional plane graph of the goods shelf bin of each layer and a four-way shuttle car simulation model according to the coordinate point, and visually displaying on a display device;
the bin is provided with a visual bin state mark for marking whether the bin stores goods or not;
(3) acquiring simulation PLC module data or reading real task execution related data of a PLC module of the four-way shuttle vehicle in real time, and controlling a simulation model of the four-way shuttle vehicle to synchronously execute operation;
marking a four-way shuttle vehicle simulation model for executing the task by a visual first mark, moving the marked four-way shuttle vehicle simulation model along a planned path, and visually displaying the planned path;
(4) and updating the bin state identifier of the target bin according to the operation state of the four-way shuttle simulation model.
As a preferred embodiment, in the method, coordinate point data of the positions of the cargos and the coordinates of the positions of the mother roads where the trolleys travel are stored in different databases and are numbered by using different numerical value sequences;
when the four-way shuttle car receives the moving task, the reversing operation or the goods storage operation can be executed at the bin according to the bin number judgment. When a PLC (programmable logic controller) moving task is issued, the four-way shuttle can identify which bin can be put according to the bin number, which bin can be reversed, and different calibration modes are correspondingly used; the simulation interface also judges the bin numbers, so that the coupling degree of the system is reduced, the judgment of the system is facilitated, and the operating efficiency of the system can be improved.
As a preferable embodiment, the method further comprises the step of judging a calibration mode used by the current position of the four-way shuttle according to the bin number.
In a preferred embodiment, the four-way shuttle simulation model is represented on a two-dimensional plane diagram by a visual symbol.
In a preferred embodiment, the method further comprises representing the state of the four-way shuttle vehicle by using or superposing different visual markers according to the movement state change of the four-way shuttle vehicle. The moving state change comprises a normal driving state, a reversing state, a loading state, a fault state, a jacking and goods taking state and the like. For example, the four-way shuttle simulation model is characterized by a blue box, and when the four-way shuttle performs reversing, the blue box represented by the four-way shuttle changes into a yellow box to indicate that the reversing is in progress. When the four-way shuttle vehicle has a fault, the four-way shuttle vehicle is stopped in place and displays a red square box to indicate the fault. After the fault is cleared, the four-way shuttle vehicle returns to normal and continues to execute unfinished tasks. Before the four-way shuttle vehicle is jacked and descended, whether goods exist in the bin position or not is judged, and if the requirements are met, the blue square frame represented by the four-way shuttle vehicle is changed into an orange square frame to indicate that the goods are being jacked and descended. When the four-way shuttle is loaded, an orange box is added in the blue box to indicate that the four-way shuttle is loaded. After the goods are jacked up, the square frame which represents the goods on the bin position disappears, and after the four-way shuttle car is put in the goods, the red square frame which represents the goods is displayed on the bin position on the position, so that a user can see the position and the state information of the four-way shuttle car at a glance.
As a preferred embodiment, the method further comprises the step of arranging an RFID electronic tag and a reflective sticker on each bin, and acquiring the current position of the real four-way shuttle according to the RFID and the reflective stickers. In reality, factors such as the load of the four-way shuttle, the quality of a goods shelf, vibration generated when the four-way shuttle moves, inertia of the four-way shuttle before stopping, sudden network disconnection, power failure, and failure of hardware equipment such as the four-way shuttle or a hoisting machine need to be considered. The four-way shuttle vehicle has inertia when running for long distance loading and can move forward a little after reaching a target bin position, so that the RFID and the reflective sticker are arranged on the bin position to carry out combined accurate positioning. The RFID is used as wireless positioning equipment, a range can be positioned, the positioning is not accurate, the RFID is used for rough positioning and accurate positioning by using a reflecting sticker, the reflecting sticker is a sticker with a smooth surface and can reflect photoelectricity, no position information is contained, and the reflecting sticker is only used for accurate positioning of photoelectricity reflection. The four-direction shuttle vehicle is provided with the photoelectric sensor, when the trolley moves to a specific goods placing point on a designated bin position, the two photoelectric sensors just irradiate the reflective sticker at the same time, and the fact that the trolley reaches an expected position is shown.
As a preferred embodiment, according to the current position of the real four-way shuttle, a visual symbol is arranged at the corresponding position of the drawn two-dimensional plane map of the goods shelf position to represent a simulation model of the four-way shuttle.
As a preferred embodiment, when real four-way shuttle vehicle PLC module task execution related data is read in real time and a four-way shuttle vehicle simulation model is controlled to synchronously execute operation, when the real four-way shuttle vehicle fails to power off and the PLC data cannot be read, the current position of the real four-way shuttle vehicle is obtained according to the RFID and the reflective sticker, and a visual symbol is set at the corresponding position of the two-dimensional plane diagram to represent the four-way shuttle vehicle simulation model. When the four-way shuttle vehicle breaks down, the moving distance recorded in the PLC of the four-way shuttle vehicle can be emptied after power failure, and at the moment, the position of the four-way shuttle vehicle needs to be determined by positioning the RFID and the light reflecting sticker on each bin.
In a preferred embodiment, the size of the two-dimensional plane and the moving speed of the four-way shuttle vehicle simulation model are reduced in proportion to the size of the real bin and the moving speed of the four-way shuttle vehicle.
The invention provides a simulation method of a four-way shuttle vehicle three-dimensional warehouse management system, which displays warehouse positions through a two-dimensional interface and displays the storage conditions of goods in the warehouse positions in real time. After the WCS issues a PLC movement command, the PLC data of the four-way shuttle car, including the path planned by the WCS system, the real-time position of the trolley and the like, are acquired, the simulation interface is utilized to synchronously display the movement path of the simulation model of the four-way shuttle car and the operations of jacking, descending, reversing and the like, and the path and the speed are reduced and really restored in a certain proportion with a real warehouse, so that the system is more accurate and efficient and has authenticity. Because the real-time path of the four-way shuttle is displayed, real data such as the current real-time speed, the current state and the current real-time action of the trolley acquired from the PLC are displayed, warehouse management personnel can check the real data without going into a warehouse, only the path of the trolley on a simulation interface and the storage condition of goods in a warehouse are required to be observed, the intelligent warehouse is integrally controlled, and the real-time state and the position of the trolley in the simulation interface can be used for rapidly positioning faults and controlling abnormal conditions. And before the production and construction of the warehouse, the operation of real scene warehouse-in and warehouse-out and the like can be simulated, and the simulation PLC data is utilized for simulation, so that the condition of field test errors is reduced, the risk is reduced, and the operation and maintenance cost is reduced. When the shuttle car is used in a project, an operator can check the moving path of the four-way shuttle car in real time, and the shuttle car can be suspended in time when an emergency occurs, so that accidents are avoided.
In addition, the simulation method has flexibility and high expansibility, and the four-way vehicle three-dimensional library comprises four-way vehicles, a lifting machine and a conveying line. And the normal warehousing process is that the goods are transported into the elevator by the conveyor line, the four-way shuttle car enters the elevator to take the goods, and then the goods are discharged out of the elevator to be placed in the designated bin. A node is arranged in the bin map and the elevator and is coincident, and the four-way shuttle vehicle moves to the node according to the task and then enters the elevator. Later-stage expansion equipment such as a lifting machine, a conveying line, a four-way vehicle and the like is normally used only by setting coincident points at corresponding nodes and establishing connection and modifying configuration. The path planning between the trolleys is controlled by an algorithm, the trolleys are distinguished by different visual identifiers in a simulation interface, the generated routes are not disordered and crossed, and users can easily distinguish different paths of different vehicles.
Drawings
FIG. 1 is a simulation interface of a two-dimensional plan view of a cargo space, wherein the boxes are used as cargo space status indicators to indicate the cargo space cargo status (e.g., cargo spaces 294-298) and the four-way shuttle symbol (at cargo space number 266).
Fig. 2 is a simulation interface for visually displaying a planned path, in which a solid bold line is used for visually displaying the planned path.
Fig. 3 is a simulation interface of a four-way shuttle reaching a reversing point to change the reversing state, eliminating the path after reaching the reversing point, and changing the sign color of the four-way shuttle to represent different states (reversing states).
Fig. 4 is a simulation interface for a four-way shuttle to reach a target bay put state, changing the four-way shuttle symbol color to characterize a different state (put state).
Fig. 5 is a simulation interface showing the completion state of the stock-removing task of the four-way shuttle after the stock is put, and a position status mark is arranged at the position of the stock after the stock is put (the same as that in fig. 1).
Detailed Description
Example 1
In this embodiment, a WMS is used to issue a transfer task, and a simulation flow when a four-way shuttle executes a transfer operation is specifically described.
(1) Coordinates (x, y and z) are established by taking the entrance of the three-dimensional shelf as an origin, the specifications of all the bin positions are consistent, and the intersection point of the x and the y is an inflection point. The coordinate points for each bin are stored in a database. The positions of the goods and the positions of the main channel positions where the four-way shuttle car travels are respectively stored in different databases, and different position numbers are used, for example, 100-298 in fig. 1 are the positions of the goods, and 1-79 with bold characters are the positions of the main channel positions where the four-way shuttle car travels. When the parent road node is superposed with the position node, the position node is preferentially judged to be the position node, and the position is considered to be used for putting goods.
(2) And acquiring a coordinate point of each bin in the database, and drawing a two-dimensional plane diagram of the shelf bin of each layer and a simulation model of the four-way shuttle by utilizing awt according to the coordinate point. A simulation model of a four-way shuttle is shown in the form of a blue box on a display device (fig. 1).
(3) And issuing a database shifting task by the WMS, dispatching the database shifting task to the four-way shuttle by the WCS under the condition that goods exist on the bin position, and planning a path by combining the length of the path, the data quantity of the reversing point and the like.
The simulation system reads the data of the PLC module of the four-way shuttle vehicle in real time, and visually displays the planned path in the display device, and the simulation model of the four-way shuttle vehicle and the real four-way shuttle vehicle synchronously operate.
The four-way shuttle vehicle carries out reversing judgment and fault judgment when running:
when the four-way shuttle vehicle reaches the reversing point, the four-way shuttle vehicle of the simulation interface stops at the reversing point position, the four-way shuttle vehicle is indicated to be in reversing by a yellow square frame (figure 3), and the four-way shuttle vehicle continues to run along the planned path in the form of a blue square frame after the reversing is finished.
When the four-way shuttle vehicle has a fault, the four-way shuttle vehicle is stopped at the position where the fault occurs, the fault of the four-way shuttle vehicle is shown in a red square frame until the fault is repaired, and the four-way shuttle vehicle continues to run along the planned path in a blue square frame mode. And if the PLC module is powered off due to a fault and cannot read data, determining the position of the four-way shuttle car by utilizing RFID and reflective sticker positioning, and synchronously positioning the simulation model of the four-way shuttle car in a simulation interface.
If the goods arrive at the target position, the four-way shuttle vehicle in the simulation interface stays at the target position to lift up and pick up the goods, the blue square frame is changed into the orange square frame to represent that the goods are lifted up and picked up, and the red square frame icon of the goods is arranged in the removal simulation interface after the goods are picked up.
The addition of an orange box to the blue box of the four-way shuttle indicates that the four-way shuttle is in cargo (fig. 2). And planning and generating a path from the current position pipe to the target stocking position, and continuing to perform the reversing and fault judgment until the target position is reached. After the goods are placed, the four-way shuttle cars in the simulation interface are changed into blue boxes, and icons of the goods are added to the goods placement positions and displayed in red boxes. (FIG. 5)
When the four-way shuttle car moves to the elevator, the four-way shuttle car waits for a moment at the entrance of the elevator, which indicates that the elevator is ready. After the four-way shuttle car is ready, the four-way shuttle car enters the elevator to stay for several seconds and then appears in another layer, at the moment, the step (2) is returned according to the stay layer to draw and display the two-dimensional plane graph of the shelf position of the layer and the simulation model of the four-way shuttle car, the path is planned again and the four-way shuttle car continues to move along the path until the task is completed.
Claims (10)
1. The simulation method of the four-way shuttle three-dimensional warehouse management system is characterized by comprising the following steps:
(1) establishing a three-dimensional Cartesian coordinate system by taking an inlet of a three-dimensional goods shelf of the four-way shuttle as an original point, and storing a coordinate point of each bin in a database;
(2) acquiring a coordinate point of each bin in a database, drawing a two-dimensional plane graph of the goods shelf bin of each layer and a four-way shuttle car simulation model according to the coordinate point, and visually displaying on a display device;
the bin is provided with a visual bin state mark for marking whether the bin stores goods or not;
(3) acquiring simulation PLC module data or reading real task execution related data of a PLC module of the four-way shuttle vehicle in real time, and controlling a simulation model of the four-way shuttle vehicle to synchronously execute operation;
marking a four-way shuttle vehicle simulation model for executing the task by a visual first mark, moving the marked four-way shuttle vehicle simulation model along a planned path, and visually displaying the planned path;
(4) and updating the bin state identifier of the target bin according to the operation state of the four-way shuttle simulation model.
2. The method according to claim 1, characterized in that the coordinate point data of the positions for storing the goods and the positions of the mother road for the trolley to travel are stored in different databases and numbered by using different numerical value sequences;
when the four-way shuttle car receives the moving task, the reversing operation or the goods storage operation can be executed at the bin according to the bin number judgment.
3. The method of claim 2, further comprising determining a calibration mode to use for the current position of the four-way shuttle based on the bin number.
4. The method of claim 1, wherein the four-way shuttle simulation model is characterized in a visual notation on a two-dimensional plan view.
5. The method of claim 1 or 4, further comprising representing the state of the four-way shuttle vehicle using different visual markers for the use or superimposition thereof according to the change of the moving state of the four-way shuttle vehicle.
6. The method of claim 5, wherein the movement state change comprises a normal driving state, a divert state, a load state, a fault state, a lift pick state.
7. The method as claimed in claim 1 or 4, wherein each bin is provided with an RFID electronic tag and a reflective sticker, and the current position of the real four-way shuttle is obtained according to the RFID and the reflective stickers.
8. The method according to claim 7, characterized in that a visual symbol is arranged at the position corresponding to the drawn two-dimensional plane map of the shelf space to represent the simulation model of the four-way shuttle according to the current position of the real four-way shuttle.
9. The method as claimed in claim 7, wherein when real-time reading of task execution related data of a PLC module of the real four-way shuttle vehicle and control of a simulation model of the four-way shuttle vehicle to synchronously execute the operation are performed, and when the real four-way shuttle vehicle is in fault power failure and cannot read PLC data, the current position of the real four-way shuttle vehicle is obtained according to the RFID and the reflective sticker, and a visual symbol is set at a position corresponding to the two-dimensional plan view to represent the simulation model of the four-way shuttle vehicle.
10. The method of claim 1, wherein the two-dimensional plan size, the four-way shuttle motion model travel speed scale down based on the true bin size, the four-way shuttle motion speed.
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