WO2022262863A1

WO2022262863A1 - Shelf moving method, warehousing system, and computer storage medium

Info

Publication number: WO2022262863A1
Application number: PCT/CN2022/099566
Authority: WO
Inventors: 冯雄锋; 王元元
Original assignee: 上海快仓智能科技有限公司
Priority date: 2021-06-18
Filing date: 2022-06-17
Publication date: 2022-12-22
Also published as: CN113306947B; CN113306947A

Abstract

A shelf moving method, comprising: S11, calculating, on the basis of initial parameter configuration of shelves and storage points, a popularity attribute value of each shelf; S12, determining the popularity attribute of each shelf on the basis of the arrangement sequence of the popularity attribute values of the shelves and proportions of storage points; S13, calculating moving gains of the shelves on the basis of the degree of mismatch between the popularity attributes of the shelves and popularity attributes of the storage points and moving distances of the shelves; S14, formulating a global moving scheme of the shelves on the basis of the moving gains of the shelves; and S15, assigning moving tasks to transport vehicles on the basis of the global moving scheme. According to the method, the movement distances of the shelves can be reduced, the operation time can be shortened, and accurate and efficient shelf moving can be implemented.

Description

Shelf shifting method, storage system and computer storage medium

Cross References to Related Applications

This application claims priority to Chinese patent application 202110676329.X filed on June 18, 2021, entitled "Shelf Shifting Method, Storage System, and Computer Storage Medium", the entire content of which is incorporated herein by reference

technical field

The present disclosure relates to the technical field of storage management, in particular to a shelf shifting method, a storage system and a computer-readable storage medium.

Background technique

Warehousing is an important link in logistics, which directly reflects the status of materials before and during circulation, and is the basis for enterprises to judge production and sales.

The main operations of the warehouse are the warehousing, inventory management and outbound operations of goods. The operation time of storage and delivery is generally short, but the storage time of goods is longer, so the management of goods in storage is an important task of the warehouse. Location management refers to the reasonable and effective planning and management of how to handle, how to place, and where to place the goods after they enter the warehouse. The development of the modern warehousing industry increasingly requires that the function of the warehouse be changed from the original emphasis on commodity storage to the circulation of commodities. Therefore, the storage management link of purchase, distribution, and shipment is very critical, and the flow control of goods in the warehouse It is also very demanding. A good storage strategy and layout can reduce the moving distance of storage, shorten the operation time, ensure the quality of goods, and even make full use of storage space.

The content in the background section is only the technology known to the public, and does not necessarily represent the prior art in the field.

Contents of the invention

One of the purposes of the present application is to provide a shelf shifting method, which at least solves the problem of shelf shift management in a warehouse.

The first aspect of the embodiment of the present application provides a shelf shifting method, including:

S11: Calculate the value of the heat attribute of each shelf based on the initial parameter configuration of the shelf and storage point;

S12: Determine the heat attribute of each shelf based on the arrangement order of the value of the shelf heat attribute and the proportion of storage points;

S13: Calculate the displacement gain of the shelf based on the mismatch between the heat attribute of the shelf and the heat attribute of the storage point and the displacement distance of the shelf;

S14: Based on the shift gain of the shelf, formulate a global shift scheme for the shelf; and

S15: Based on the global shifting scheme, assign shifting tasks to the transport vehicles.

The second aspect of the embodiment of the present application provides a storage system, which includes multiple storage points, multiple shelves, transport vehicles and control devices. Each storage point has a heat attribute; multiple shelves are distributed in the storage point, and each shelf has a heat attribute. ; The control device communicates with the transport vehicle, and is configured to know the position of the shelf, and execute the above shelf shifting method.

The embodiment of the present application also provides a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the above shelf shifting method when executed by a processor.

Using the technical solution of this application, calculate the heat attribute value of the shelf and determine the heat attribute of the shelf, then measure the mismatch degree of the heat attribute between the shelf and the storage point to calculate the shifting income of the shelf, formulate a global shifting plan and distribute it to the truck shifting tasks to achieve accurate and efficient shelf shifting.

Description of drawings

Figure 1a shows a schematic diagram of a storage point including two heat attributes according to an embodiment of the present application;

Figure 1b shows a schematic diagram of a storage point including three heat attributes in an embodiment of the present application;

Figure 1c shows a schematic diagram of the moving distance of the shelf according to one embodiment of the present application;

Figure 1d shows a schematic diagram of a storage point coordinate system according to an embodiment of the present application;

Fig. 2 shows the flow chart of the shelf shifting method of one embodiment of the present application;

Fig. 3 shows the flow chart of S13 of the shelf shifting method of one embodiment of the present application;

Fig. 4 shows the flow chart of S14 of the shelf shifting method of an embodiment of the present application;

Fig. 5 shows the flow chart of S15 of the shelf shifting method of an embodiment of the present application;

FIG. 6 shows a flowchart of a shelf shifting method according to another embodiment of the present application;

Figure 7a shows a schematic diagram of the distance from a storage point to a workstation according to an embodiment of the present application;

Fig. 7b shows a schematic diagram of distribution of heat attributes of storage points according to an embodiment of the present application;

Fig. 7c shows a schematic diagram of the comparison between the heat attribute of the shelf before shifting and the heat attribute of the storage point according to an embodiment of the present application;

Fig. 7d shows a schematic diagram of a storage point coordinate system according to an embodiment of the present application;

Fig. 7e shows a schematic diagram of the comparison between the heat attribute of the shelf after shifting and the heat attribute of the storage point according to an embodiment of the present application.

detailed description

In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined. In the description of the application of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection: it can be mechanical connection, electrical connection or mutual communication; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the mutual communication of two components role relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in the application of the present invention according to specific situations.

The following disclosure provides many different implementations or examples for realizing different structures of the present application. To simplify the disclosure of the present application, components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the application of the invention. Furthermore, the present application may repeat reference numerals and/or reference letters in different instances, such repetition is for simplicity and clarity and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. Additionally, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the use of other processes and/or the use of other materials.

The storage system includes storage points, shelves and commodities, which correspond to different heat attributes. Among them, the heat attribute of the storage point can be specified by the customer, and is generally determined according to the distance between the storage point and the workstation, or in other words, according to the distance between the storage point and the workstation, the storage points in the whole site are divided into specified categories of heat attributes. For the convenience of description, the storage area is divided into grids, and each grid corresponds to a storage point. Figure 1a shows that there are two heat attributes of storage points in the system, such as heat attribute A and heat attribute B, where the heat attribute is A storage point is closer to the workstation, and the heat is higher; the heat attribute is B The storage point distance The workstation is far away and the heat is low; Figure 1b shows that there are three heat attributes of storage points in the system, such as heat attribute A, heat attribute B, and heat attribute C. The highest; the storage point whose heat attribute is C is the farthest from the workstation, and the heat is the lowest. Referring to Figure 1c, the numbers in the grid represent the moving distance to the workstation. The storage point with a moving distance of 1 or 2 has the highest heat (red area), and the storage point with a moving distance of 3 has the second heat (yellow area). Storage points 4-6 have the lowest heat (blue area). The heat of the product can be specified by the customer, or can be calculated based on the historical picking data of the product. The heat of the shelf needs to be determined according to the heat and quantity of the goods stored on the shelf. The goods stored on the shelf are constantly changing with the selection and replenishment. Reasonable calculation of the heat of the shelf can make the heat shift of the shelf more accurate and further improve Heat shift improves picking efficiency.

The optional embodiments of the present application will be described below in conjunction with the accompanying drawings. It should be understood that the optional embodiments described here are only used to illustrate and explain the present application, and are not intended to limit the present application.

A rack shifting method provided in the first aspect of the embodiment of the present application, as shown in FIG. 2 , the rack shifting method 10 includes:

In S11: Based on the initial parameter configuration of the shelves and storage points, calculate the heat attribute value of each shelf.

According to an optional embodiment of the present application, wherein the initial parameter configuration of shelves and storage points includes one of the number of shelves, the number of storage points, the value of each thermal attribute or the proportion of storage points of each thermal attribute multiple.

Specifically, there are m types of heat attributes of commodities, shelves, and storage points in the storage system, and the value of the i-th heat attribute is w _i , where i∈(1,2,...,m). According to an optional embodiment of the present application, the greater the heat attribute value, the higher the heat.

One method is to set the value w of each heat attribute by the user, so as to ensure that the value of w is larger for the attribute with higher heat. For example, when m=3, i∈(1,2,3), set the first heat attribute as A, set w ₁ as 6; set the second heat attribute as B, set w ₂ as 4; set the third The heat attribute is C, and w ₃ is set to 2.

Taking the value of the heat attribute of a storage point as an example, the w1 value of heat attribute _A is the largest, the heat is the highest, and is the closest to the workstation (refer to the storage point whose heat attribute is _A in Figure 1b); the heat attribute C has the smallest w3 value, and the heat The lowest and the farthest away from the workstation (refer to the storage point whose heat attribute is C in Figure 1b).

The value of the heat attribute of the product can be specified by the customer, or can be calculated based on the historical picking data of the product. For example, the product with the highest picking frequency or quantity has the largest heat attribute value; the product with the lowest picking frequency or quantity has the lowest heat attribute value.

If you sort the value of the heat attribute from large to small according to the heat level, another way to set the value of the heat attribute is as follows:

The value of the i-th heat attribute w _i =m-i+1, for example, when m=3, i=1, the first heat attribute is A, calculate w ₁ =3-1+1=3; when i=2 , the second heat attribute is B, and w ₂ =3-2+1=2 is calculated; when i=3, the third heat attribute is C, and w ₃ =3-3+1=1 is calculated. That is, the w ₁ value of heat attribute A is the largest, the heat is the highest, and it is the closest to the workstation (refer to the storage point with heat attribute A in Figure 1b) or the picking frequency is the highest; the heat attribute C has the smallest w ₃ value, the lowest heat, and the distance from the workstation The furthest (refer to the storage point whose heat attribute is C in Figure 1b) or the highest picking frequency.

Two methods for setting the value of the heat attribute are introduced above. According to an optional embodiment of the present application, another method for setting the value of the heat attribute of the shelf is introduced next. Since the heat of the shelf is mainly determined by the heat and quantity of the goods stored on the shelf, and the unit volume of different goods varies greatly, it is not very reasonable to directly measure the influence of the goods on the value of the heat attribute of the shelf by the number of goods. Because the minimum storage unit for storing commodities in a shelf is a storage location (for example, a pallet on the shelf), optionally, the degree of influence of the commodity on the value of the thermal attribute of the shelf can be measured by the number of storage spaces occupied by the commodity. When multiple commodities are stored in one storage location, the different commodities stored in this location will share the location equally. For example, if there are 3 kinds of commodities stored in a certain location, regardless of the volume occupied by these 3 kinds of commodities in the location How big is it, they all occupy 1/3 of the location, and so on.

According to an optional embodiment of the present application, the value of the heat attribute of the shelf is calculated based on the value of the heat attribute of each commodity on the shelf and the ratio of the number of storages occupied by the commodity.

First, initialize the number of shelves occupied by each heat attribute commodity in the shelf K _i =0, (i=1,2,...,m); then, traverse all non-empty locations in the shelf, and count the locations The number of types of commodities in q; Next, traverse each commodity in the storage location, and the number of shelves occupied by the shelf with the heat attribute _i to which the commodity belongs increases by 1/q; finally, calculate the heat attribute value V of the shelf according to the following formula :

Among them, w _i is the value of the heat attribute of each commodity. The larger the value of V, the greater the value of the heat attribute of the shelf, the higher the heat of the shelf, and the lowest value of the heat attribute of an empty shelf is 0.

The calculation method of the heat attribute value of a single shelf is explained above. Assuming that there are N shelves in the whole field, after calculating the value of the heat attribute of each shelf in turn, optionally, make an information table of the value of the heat attribute of the shelf. When the product type, quantity, or occupied storage space on the shelf changes, update the value of the heat attribute of the shelf to maintain the information table.

In S12: Determine the heat attribute of each shelf based on the sorting of the value of the heat attribute of the shelves and the proportion of storage points.

According to an optional embodiment of the present application, the shelves are sorted from the largest to the smallest based on the value of the heat attribute of the shelves, and the heat attribute of the shelf is determined in combination with the proportion of storage points.

Specifically, based on the initial parameter configuration of shelves and storage points, assuming that the number of shelves is N, sort the shelves in the whole field from large to small according to the value of the heat attribute of N shelves, for example, the order starts from 1, followed by the first 1 shelf, the 2nd shelf...the Nth shelf, and then calculate the number of shelves corresponding to each heat attribute according to the sorting.

According to an optional embodiment of the present application, the number of shelves corresponding to each heat attribute is related to the total number of shelves and the storage point ratio of each heat attribute, and the shelves are allocated according to the storage point ratio of the heat attribute, and priority is given to those with high heat Heat property.

Specifically, when the value order of the heat attribute of the shelf falls within the left open and right closed interval of (lb _i ,ub _i ], i=1,2,...,m, the heat attribute of the shelf is the i-th class, where ,

lb _i =0, lb _i =ub _i -1, ub _i =lb _i +[p _i *N],

The length of the interval is rounded up from the product of the total number of shelves N and the proportion of storage points p _i of the heat attribute, that is, the length of the interval is the number of shelves corresponding to the heat attribute. The left-open and right-close interval is used, and lb ₁ =0, to ensure that the storage point ratio p _i is greater than 0 and the heat attribute with the highest heat (that is, the heat attribute value of order 1) has at least one shelf. For example, there are N=5 shelves in the whole venue, and there are i=3 heat attributes in total, that is, heat attribute A/B/C. Let the storage points of heat attribute A account for p _i =5%, and the storage points of heat attribute B account for Ratio p _i =85%, and the storage points of heat attribute C account for p _i =10%, then the number of shelves of the three heat attributes are respectively:

When i=1, the heat attribute is A, lb ₁ =0, ub ₁ =lb ₁ +[p ₁ *N]=0+[5%*5]=[0.25]=1, then the heat attribute is A The value range of the heat attribute of the shelf is (0,1], that is, the number of shelves with heat attribute A is 1, including the first shelf.

When i=2, the heat attribute is B, lb ₂ =ub ₂ -1=ub ₁ =1, ub ₂ =lb ₂ +[p ₂ *N]=1+[85%*5]=1+[4.25 ]=1+5=6, then the value interval of the value of the heat attribute of the shelf whose heat attribute is B is (1,6], theoretically, the number of shelves whose heat attribute is B is 5, including the 2nd to 6th Shelf. Because there are only 5 shelves in total, and heat attribute A is allocated to 1 shelf, so the number of shelves for heat attribute B can only be 4, that is, the shelves for heat attribute B are the second to fifth shelves.

When i=3, the heat attribute is C, lb3=ub3-1=ub2=6, ub ₃ =lb ₃ +[p ₃ *N]=6+[10%*5]=6+[0.5]=6 +1=7, then the value range of the number of shelves of heat attribute C is (6,7], theoretically, the number of shelves of heat attribute C is 1, including the 7th shelf, but because there are only 5 shelves in total, When the popularity attribute A is allocated to 1 shelf, and the popularity attribute B is allocated to 4 shelves, the number of shelves for the popularity attribute C can only be 0.

The method for calculating the value of the heat attribute of the shelf and the method for determining the heat attribute of each shelf have been introduced through optional embodiments above, and other steps of the shelf shifting method 10 will be described below.

In S13 : based on the degree of mismatch between the heat attribute of the shelf and the heat attribute of the storage point and the displacement distance of the shelf, the displacement gain of the shelf is calculated.

The shifting gain of the shelf is an index to judge whether the shelf needs to be shifted, the selection of the target shifting storage point, and the overall optimality of mutual shifting of multiple racks. For the displacement of a single shelf, if the displacement gain is greater than 0, it means that the displacement is beneficial; if the displacement gain is less than 0, it means that the displacement is useless. Similarly, for the mutual shift of multiple shelves, if the total gain of the shift is greater than 0, it means that the overall shift is beneficial; if the total gain of the shift is less than 0, it means that the overall shift is unreasonable.

First of all, it is necessary to correspond the shelves with the storage points. For the shelf of each heat attribute, it can be stored according to the priority order of the heat attribute of the storage location specified by the user. For example, when the specified priority order is {B:[B,A,C,D]}, it means heat The shelf with the attribute B is first stored in the storage point with the heat attribute B, followed by the storage point with the heat attribute A, then the storage point with the heat attribute C, and finally the storage point with the heat attribute D point. The set of priority order can also be referred to as a candidate set of storage point heat attributes that can be stored on the shelf.

In addition to being specified by the user, the heat attribute of the storage point can also be determined according to the distance between the storage point and the workstation. According to an optional embodiment of the present application, according to the distance from the storage point to the workstation, the storage points in the whole field are partitioned according to the heat attribute and the proportion of the storage points, and the coordinate system of the storage points is established. Referring to Figure 1b, the storage point coordinate system is established with the lower left storage point as the origin, that is, the coordinates of the lower left storage point are (0,0), and the coordinates of the upper right storage point are (4,3), which can be understood as starting from the origin and moving to the right Move the distance of 4 storage points, and move up the distance of 3 storage points.

According to an optional embodiment of the present application, the degree of mismatch between the heat attributes of the shelf and the storage point is related to the priority order of the heat attributes of the storage points that the shelf can store. For the convenience of description, take a storage point to store a shelf as an example, according to the order value of the heat attribute of the storage point where the shelf is located in the priority sorting, that is, the order value of the heat attribute candidate set of the storage position of the shelf (starting from 0) , to obtain the degree of mismatch between the heat attribute of the shelf and its storage point. For example, the candidate set is {B:[B,A,C,D]}, where the first letter B represents the heat attribute of the shelf, and the four letters in square brackets represent the set of heat attributes of the storage points that the shelf can store. The order of four letters represents the order of priority. When the shelf with heat attribute B is stored in the storage point with heat attribute B, the order value is 0, and the mismatch degree is 0, that is, it matches; when it is stored in the storage point with heat attribute A, the order value is 1 , the mismatch degree is 1; when it is stored in a storage point with a heat attribute of C, the order value is 2, and the mismatch degree is 2; when it is stored in a storage point with a heat attribute of D, the order value is 3, and the mismatch degree is 3 . In particular, if there is no shelf on the storage point, the order value of the heat attribute of the storage point in the candidate set of heat attribute of the storage position of the shelf is recorded as 0.

Fig. 3 shows the flow chart of S13 of the shelf shifting method of an embodiment of the present application, and above-mentioned S13 comprises:

In S13-1: before calculating the exchange positions of the two shelves, the sum g1 of the thermal attribute mismatch between the two shelves and their respective storage points. Before shifting, according to the order values of the two shelves in the heat attribute candidate set of storage points that can be stored, respectively obtain the degree of mismatch between the heat attributes of the two shelves and their storage points, and then sum them to obtain g1.

In S13-2: after calculating the exchange position of the two shelves, the sum g2 of the heat attribute mismatch between the two shelves and their respective new storage points. After shifting, according to the sequence values of the two shelves in the storage point heat attribute candidate set that can be stored, respectively obtain the mismatch degree of the heat attribute of the two shelves and the storage point, and then sum to obtain g2.

Obtain the reduction value (g1-g2) of the heat attribute mismatch degree between the two shelves before and after the exchange position through S13-1 and S13-2 with the respective storage points, the more the mismatch degree is reduced (greater than 0), the more beneficial the shift, the higher the shift gain.

In S13-3: Based on the storage point coordinate system, calculate the sum d of the displacement distances of the two shelves after the positions of the two shelves are exchanged. For example, the shelf stored in the lower left storage point (0,0) is exchanged with the shelf stored in the upper right storage point (4,3). When the shelf stored in the lower left storage point is moved to the upper right storage point, the shift distance is 4+3=7 ; When the shelves stored in the upper right storage point are moved to the lower left storage point, the displacement distance is 4+3=7; the sum of the displacement distances of the two shelves is d=7+7=14. The smaller the displacement distance required for two racks to exchange positions, the greater the displacement gain.

In S13-4: Calculate the displacement gain h=(g1-g2)-d/(2*d_max) of the two shelves, where d_max is the maximum displacement distance of the whole field.

According to an optional embodiment of the present application, when the heat attribute mismatch between the shelf and the storage point decreases after the shift, and the shift benefit is greater than 0, the shift is beneficial.

Above, based on the mismatch degree of the thermal attributes of the shelf and the storage point before and after the shift and the shift distance, the shift gain of the exchange position of the two racks is calculated. According to the calculation method of the displacement gain of the exchange position of two shelves, it can be seen that the first priority goal of heat displacement is to reduce the thermal attribute mismatch between the shelf and the storage point, and the second priority goal is to reduce the displacement distance of the shelf . In practical applications, it is also necessary to comprehensively consider the position exchange of the entire field of shelves to find the global displacement scheme with the largest displacement gain.

In S14: based on the shift gain of the rack, formulate a global shift scheme for the rack.

When the heat attribute of the shelf is the same as that of the storage point, the shelf has reached the optimal position, that is, the mismatch degree between the heat attributes of the shelf and the storage point is 0, and there is no need to participate in the shift. Fig. 4 shows the flow chart of S14 of the shelf shifting method of an embodiment of the present application, and above-mentioned S14 comprises:

In S14-1: set the storage points whose value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point as the set E. Taking a storage point to store a shelf as an example, assuming that the heat attribute is A/B/C/D, the order of heat attribute values is A>B>C>D. The shelves that need to be shifted are grouped according to the degree of mismatch. When the value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point, the storage points that meet the conditions are divided into the set E.

In S14-2: the storage points whose value of the heat attribute of the shelf is smaller than the value of the heat attribute of the storage point are set as set F. That is, the shelves that need to be shifted are grouped according to the degree of mismatch, and when the value of the heat attribute of the shelf is less than the value of the heat attribute of the storage point, the storage points that meet the conditions are divided into the set F.

In S14-3: add free storage points to set E and set F respectively. Add storage points without storage shelves to set E and set F respectively. Optionally, in order to facilitate the mutual displacement of the shelves in the set E and the set F, it is possible to ensure that the number of storage points in the two sets is roughly the same when allocating free storage points.

In S14-4: Calculate the matching gain between any storage point in the set E and any storage point in the set F. According to an optional embodiment of the present application, the method for calculating the matching gain between any storage point in the set E and any storage point in the set F includes: when the storage point in the set E and the storage point in the set F When there are shelves, the matching gain between two storage points is the shift gain of the two shelves; when one of the storage points is free, the matching gain between the two storage points is a shelf moving to another storage point The shift gain of ; when both storage points are free, the matching gain between the two points is set to negative infinity.

In S14-5: use the KM algorithm to match the storage points in the set E and the set F, and obtain the global shifting scheme with the largest sum of matching gains. Based on the matching gain obtained in S13-4, the storage points in the set E are matched with the storage points in the set F through the algorithm, and the matching target is the maximization of the total matching gain, so as to obtain multiple shifting schemes, each A shifting scheme includes multiple sets of matching results, canceling the matching results whose matching gain is less than or equal to 0, and retaining the matching results whose matching gain is greater than 0. Then, the matching gains of multiple sets of matching results in each shifting scheme are summed, and the shifting scheme with the largest sum of matching gains is selected as the optimal global shifting scheme. Wherein, the adopted algorithm is such as the KM algorithm, and other algorithms that can be used for matching are also within the protection scope of the present application.

The above-mentioned global shifting scheme is realized based on pairwise matching of the shelves in the two sets and exchanging storage positions. In addition, the storage points of the whole field can also be divided into multiple sets, for example, divided into three sets, Based on the circular matching of the shelves in the three sets and the exchange of storage positions, in addition, the operation of dividing the entire storage point into two or more sets can also be performed in S13, which are all within the scope of protection of this application Inside.

According to an optional embodiment of the present application, the shelf global shifting scheme includes generating a shifting task: when there are shelves on the two storage points that are successfully matched, the positions of the two shelves are exchanged, and two shifting tasks are generated at this time , since the start and end points of two tasks are the end points of each other, this type of task is recorded as a circular task group, that is, a circular shift task that exchanges the positions of two shelves is generated; when there are only two storage points that match successfully A shelf, move the shelf to another storage point, at this time a shift task is generated, which is recorded as a single-side shift task. Based on the generated shift task, the shift task is assigned to the transport vehicle, where the transport vehicle can be an automatic guided vehicle (Automatic Guided Vehicle; AGV). Among them, the unilateral shift task can be performed by one handling AGV at any time, and the ring task group including two shift tasks needs to be performed by two handling AGVs at the same time, because when one of the shift tasks reaches the target storage point, If another shift task has not been executed, continuing to occupy the storage point will cause the arriving shelves to wait indefinitely and occupy the resources of the AGV.

In S14: based on the formulated global rack shifting scheme, assign shifting tasks to the transport vehicles.

Fig. 5 shows the flow chart of S15 of the shelf shifting method of an embodiment of the present application, and above-mentioned S15 comprises:

In S15-1: Obtain the number n of idle transport vehicles that can perform shifting tasks;

In S15-2: assign priority to the tasks of the circular task group, this step includes three judgment conditions: when the number of circular shift tasks is less than or equal to n, all circular shift tasks participate in the distribution of transport vehicles; when the circular shift task When the number is greater than n, and n is an even number, randomly select n/2 circular shift tasks to participate in the distribution of trucks; when the number of circular shift tasks is greater than n, and n is an odd number, randomly select (n-1)/ 2 circular shifting tasks participate in the distribution of trucks. Repeat this step until all tasks of the ring task group are assigned

In S15-3: after all the circular shifting tasks are completed, the unilateral shifting tasks are assigned to idle transport vehicles. In order to balance the efficiency of task execution and improve the utilization rate of the transport vehicle, one transport vehicle may correspond to multiple shifting tasks, that is, each transport vehicle may be time-division multiplexed.

The shelf shifting method 10 has been described above through S11-S15, and those skilled in the art can understand that the present application does not limit the execution order of the steps. In order to better understand the technical solution of the present application, a complete example is further explained below.

Fig. 6 shows the flowchart of the shelf shifting method of an embodiment of the present application, and the shelf shifting method 20 includes:

In S21: Obtain initial parameter configurations of shelves and storage points. The warehouse includes 1 workstation, 20 shelves, and 20 storage points. There are 3 types of heat attributes for commodities/shelves/storage points, sorted from high to low by heat: A>B>C.

Set the proportions p _i of the storage points of the three heat attributes of A, B, and C to 20%, 25%, and 55% respectively, and the corresponding values w _i of the three heat attributes are 3, 2, and 1, respectively. Generally speaking, the higher the popularity of an attribute, the smaller the proportion of its storage points, and the popularity of different storage points can be adjusted accordingly as needed.

After obtaining the initial parameter configuration of the whole field, in S22, the value of the heat attribute of each shelf is calculated and the heat attribute of the shelf is determined.

Assume that there are 6 locations in a certain shelf, and 6 kinds of commodities are stored in total. The commodity category names are Sku1, Sku2...Sku6, and the numbers behind the commodity category names represent the quantity of commodities. 1 shows:

Table 1

The above is only for this purpose. The popularity attribute of commodity Sku1 is A, the popularity attributes of commodity Sku2 and commodity Sku3 are both B, and the popularity attributes of commodity Sku4, commodity Sku5 and commodity Sku6 are all C.

The different commodities stored in the storage location are equally divided into the storage location, and the storage number Ki occupied by the three heat attributes of the shelf is calculated, and each location in the shelf is traversed from left to right and from top to bottom:

When i=1, calculate the number of warehouses K ₁ occupied by the hotness attribute A, because the hotness attribute of commodity Sku1 is A, which exclusively occupies the first warehouse and occupies 1/2 of the second warehouse, and does not occupy other warehouses. According to The sum of the 1st to 6th storage locations, then K ₁ =1+1/2+0+0+0+0=3/2;

When i=2, calculate the number of storage units K ₂ occupied by the hotness attribute B, because the hotness attribute of commodity Sku2 and commodity Sku3 is B, wherein, commodity Sku2 occupies 1/2 of the second warehouse location and occupies 1/3 of the second warehouse 3 storage locations, do not occupy other storage locations; commodity Sku3 occupies 1/3 of the 3rd storage location, does not occupy other storage locations, according to the sum of the 1st to 6th storage locations, then K ₂ =0+1/2+2 *1/3+0+0+0=7/6;

When i=3, calculate the number of warehouses K ₃ occupied by the popularity attribute C, because the popularity attribute of commodity Sku4, commodity Sku5 and commodity Sku6 is C, and commodity Sku4 occupies 1/3 of the third warehouse location and exclusively occupies the fourth The warehouse location does not occupy other warehouse locations; commodity Sku5 occupies 1/2 of the fifth warehouse location and does not occupy other warehouse locations; commodity Sku6 occupies 1/2 of the fifth warehouse location and exclusively occupies the sixth warehouse location, and does not occupy other warehouse locations , according to the sum of the 1st to 6th storage locations, then K ₃ =0+0+1/3+1+2*1/2+1=10/3;

Calculate the heat attribute value V of the shelf according to the following formula:

Among them, i=1,2,3, w _i =3,2,1, then

Thus, the heat attribute value of the shelf is obtained.

The thermal attribute value of each shelf is calculated in turn, and the shelves are sorted according to the order of the thermal attribute values of the shelves from large to small. When the order of the heat attribute values of the shelf falls within (lb _i , ub _i ], i=1, 2, 3 in the left-open and right-close interval, wherein,

lb ₁ =0, lb _i =ub _i -1, ub _i =lb _i +[p _i *N], wherein, N=20, p _i =20%, 25%, 55%, then the three heat attributes The number of shelves are:

When i=1, the heat attribute is A, lb ₁ =0, ub ₁ =lb ₁ +[p ₁ *N]=0+[20%*20]=[4]=4, then the shelf of heat attribute A The value range of the popularity attribute value is (0,4], that is, the number of shelves for the popularity attribute A is 4, including the first to fourth shelves.

When i=2, the heat attribute is B, lb ₂ =ub ₂ -1=ub ₁ =4, ub ₂ =lb ₂ +[p ₂ *N]=4+[25%*20]=4+[5 ]=9, then the value range of the shelf heat attribute value of heat attribute B is (4,9], that is, the number of shelves of heat attribute B is 5, including the 5th to 9th shelves.

When i=3, the heat attribute is C, lb ₃ =ub ₃ -1=ub ₂ =9, ub ₃ =lb ₃ +[p ₃ *N]=9+[55%*20]=9+[11 ]=20, then the value range of the shelf heat attribute value of heat attribute C is (9,20], that is, the number of shelves of heat attribute C is 11, including the 10th to 20th shelves. Through the above method, each The heat properties of the shelves on the storage point, the results are shown in Figure 7c.

Specifically, as shown in Figure 7a, firstly, divide the entire field storage location into 20 grids, each grid corresponds to a storage point, and the number in the grid represents the distance d from the storage point to the workstation; then, refer to Figure 7b divides the whole field grid into specified categories of heat according to the proportion of storage points p _i , among which there are 4 storage points of heat attribute A, the heat is the highest, and it is the closest to the workstation, which is set to red; the heat attribute B has a total of 5 storage points There are 11 storage points with heat attribute C, the lowest temperature and the farthest distance from the workstation, and they are set to blue; then, a storage point stores a shelf, according to the current storage point on the shelf. Stored product heat, product quantity, and heat attribute, calculate the value of the heat attribute of the shelf, determine the heat attribute of the shelf according to the arrangement order of the value of the heat attribute of all shelves and the proportion of storage points, and calculate the heat attribute of each storage point and Fill in the grid with the heat attribute of the corresponding shelf, assuming that the final result is shown in Figure 7c, where the first letter represents the heat attribute of the shelf, and the second letter represents the heat attribute of the storage point, such as the shelf filled in the lower left grid and the heat attribute of the storage point is C/B, then C is the heat attribute of the shelf, and B is the heat attribute of the storage point; finally, a coordinate system is established with the lower left storage point as the origin, and the coordinates of each storage point are shown in Figure 7d. For example, the coordinates of the lower left grid are (0,0), and the coordinates of the upper right grid are (4,3).

The shift gain of the shelf is calculated at S23. Referring to Figure 7c, the thermal properties of some storage points do not match the thermal properties of the shelves, and need to be shifted.

Specifically, for example, the priority order of the storage point heat attributes of shelves with three heat attributes is as follows: the heat attribute candidate set of the storage point stored first on the shelf with heat attribute A is [A, B, C], and the heat attribute is B. The storage point heat attribute candidate set for shelf priority storage is [B,A,C].

According to the order of the heat attributes of the storage points that are stored preferentially on the shelves of each heat attribute, the heat attribute mismatch between the current shelf and the storage point can be calculated. Combined with Figure 7d and Figure 7c, for example, the coordinate (0, 0) point The heat attribute of the shelf and storage point is C/B, and the heat attribute mismatch degree is 1. The heat attribute of the shelf and storage point at coordinate (3, 2) is A/C, and the heat attribute mismatch degree is 2. That is, before the position is exchanged, the sum of the heat attribute mismatches between each shelf and the respective storage point is g1=1+2. If the shelf at point (0, 0) and the shelf at point (3, 2) are swapped, the shelf at point (0, 0) and the storage point will have the heat attribute of (A/B) after the exchange, and the heat attributes will not match The degree is 1, the heat attribute of the shelf and storage point at point (3, 2) is C/C, and the heat attribute mismatch degree is 0. That is, after the location is exchanged, the sum of the heat attribute mismatches between each shelf and the respective storage point g2=1+0.

Combining Fig. 7c and Fig. 7a, the rack at point (0, 0) and the rack at point (3, 2) need to exchange positions, and the total moving distance of the rack is d=5+5.

The maximum displacement distance of the whole field d_max=7, that is, according to the displacement distance from (0,0) point to (4,3) point, the shelf displacement at point (0,0) and the shelf displacement at point (3,2) are calculated. The bit gain h is:

h=(g1-g2)-d/(2*d_max)=[(1+2)-(1+0)]-(5+5)/2*7=9/7

A shift gain greater than 0 indicates that shifting is beneficial and can reduce the mismatch between shelves and storage points.

In S24, a global shifting scheme is formulated.

Filter out the storage points whose heat attribute of the shelf is greater than the heat attribute of the storage point as the set E, refer to Figure 7c and Figure 7d, the coordinate points included in the set E are: (0,1), (1,1), (1,3), (3,2), (4,0).

Filter out the storage points whose heat attribute of the shelf is smaller than the heat attribute of the storage point as the set F, refer to Figure 7c and Figure 7d, the coordinate points included in the set F are: (0,0), (1,0), (2,1), (2,2), (3,0).

Calculate the shift gain of exchanging shelves between any storage point in set E and any storage point in set F, and record it as the matching gain between storage point E and storage point F. The KM algorithm is used to match the storage points in the set E with the storage points in the set F, and the matching goal is to maximize the total matching gain. When the storage points in set E are all successfully matched with the storage points in set F, the maximum total matching gain is 13, and the optimal matching result is:

The shelf of the storage point (0,1) will be exchanged with the shelf of the storage point (0,0);

The shelf of the storage point (1,1) is about to exchange the position of the shelf of the storage point (1,0);

The shelf of the storage point (1,3) will be exchanged with the shelf of the storage point (2,2);

The shelf of the storage point (3,2) will be exchanged with the shelf of the storage point (2,1);

The shelf at storage point (4,0) is swapped with the shelf at storage point (3,0).

In S25, the transfer task is assigned to the transfer AGV.

If the number of idle handling AGVs that can be allocated in the whole field is greater than or equal to 10, all moving tasks can be allocated to handling AGVs.

If the number of idle handling AGVs that can be allocated in the whole field is less than 10 and is an even number, assuming it is 6, then 3 pairs of shelves that need to exchange positions can be randomly selected to participate in the allocation of handling AGVs.

If the number of idle handling AGVs that can be allocated in the whole field is less than 10 and is an odd number, assuming it is 5, then 2 pairs of shelves that need to exchange positions can be randomly selected to participate in the allocation of handling AGVs.

Repeat the above process of assigning and handling AGVs until all the shifting tasks have been completed.

After the global heat shift is completed, the heat attribute distribution of the shelves and storage points in the whole venue is shown in Figure 7e. It can be seen that the heat attributes of all shelves are the same as those of the storage points where they are located, achieving efficient and accurate moving of shelves the goal of.

The present application also relates to a storage system, including: multiple storage points, multiple shelves, transport vehicles and control devices, each storage point has a heat attribute; multiple shelves are distributed at the storage point, each shelf has a heat attribute; control The device communicates with the truck and is configured to know the position of the rack and to perform the rack shifting method as described above.

The present application also relates to a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions implement the above-mentioned shelf shifting method when executed by a processor.

Finally, it should be noted that: the above are only optional embodiments of the application, and are not intended to limit the application. Although the application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

A rack shifting method, comprising:

S11: Calculate the value of the heat attribute of each shelf based on the initial parameter configuration of the shelf and storage point;

S12: Determine the heat attribute of each shelf based on the arrangement order of the value of the shelf heat attribute and the proportion of storage points;

S13: Calculate the displacement gain of the shelf based on the mismatch between the heat attribute of the shelf and the heat attribute of the storage point and the displacement distance of the shelf;

S14: Based on the shift gain of the shelf, formulate a global shift scheme for the shelf; and

S15: Based on the global displacement scheme, assign a displacement task to the transport vehicle.
The shelf shifting method according to claim 1, wherein said S11 includes: calculating the value of the shelf heat attribute based on the value of the heat attribute of each commodity on the shelf and the number of storages occupied by the commodity.
The shelf shifting method according to claim 1, wherein the greater the value of the heat attribute, the higher the heat.
The shelf shifting method according to claim 1, wherein the initial parameter configuration of shelves and storage points includes the number of shelves, the number of storage points, the value of each thermal attribute or the proportion of storage points of each thermal attribute one or more.
The shelf shifting method according to claim 4, wherein said S12 includes: sorting the shelves from large to small based on the value of the heat attribute of the shelves, and then determining the heat attribute of the shelf in combination with the proportion of storage points.
The shelf shifting method according to claim 1, wherein the shelf shifting method further comprises: according to the distance from the storage point to the workstation, dividing the storage points in the whole field according to the heat attribute and the proportion of the storage points and establishing a storage point coordinate system .
The shelf shifting method according to claim 6, wherein said S13 comprises:

S13-1: Calculate the sum g1 of the heat attribute mismatch between the two shelves and their respective storage points before the two shelves are exchanged;

S13-2: Calculate the sum g2 of the heat attribute mismatch between the two shelves and their new storage points after the positions of the two shelves are exchanged;

S13-3: Based on the storage point coordinate system, calculate the sum d of the displacement distances of the two shelves after the positions of the two shelves are exchanged; and

S13-4: Calculate the displacement gain h=(g1-g2)-d/(2*d_max) of the two shelves, where d_max is the maximum displacement distance in the whole field.
The shelf shifting method according to claim 7, wherein the degree of mismatch between the heat attributes of the shelf and the storage point is related to the priority order of the heat attributes of the storage points that the shelf can store.
The shelf shifting method according to claim 7, wherein after shifting, the degree of mismatch between the heat attributes of the shelf and the storage point decreases, and when the shifting gain is greater than 0, the shifting is beneficial.
The shelf shifting method according to any one of claims 1-9, wherein said S14 comprises:

S14-1: Set the storage points whose value of the heat attribute of the shelf is greater than the value of the heat attribute of the storage point as a set E:

S14-2: Take the storage points whose value of the heat attribute of the shelf is smaller than the value of the heat attribute of the storage point as a set F:

S14-3: Add free storage points to set E and set F respectively;

S14-4: Calculate the matching gain between any storage point in the set E and any storage point in the set F; and

S14-5: Use the KM algorithm to match the storage points in the set E and the set F, and obtain the global shifting scheme with the largest sum of matching gains.
The shelf shifting method according to claim 10, wherein said S14-4 comprises:

When there are shelves on both storage points, the matching gain between the two storage points is the shift gain of two shelves; when one of the storage points is free, the matching gain between the two storage points is one shelf The shift gain for moving to another memory point; when both memory points are free, the match gain between the two points is set to negative infinity.
The shelf shifting method according to claim 10, wherein said global shifting scheme includes circular shifting tasks and unilateral shifting tasks, and said S14-5 includes: when two storage points that are successfully matched have When storing shelves, generate a circular shift task to exchange the positions of two shelves; when there is only one shelf on the two storage points that are successfully matched, generate a unilateral shift task that moves the shelf to another storage point.
The shelf shifting method according to claim 12, wherein said S15 comprises:

S15-1: Obtain the number n of idle transport vehicles that can perform shifting tasks;

S15-2: When the number of circular shifting tasks is less than or equal to n, all circular shifting tasks participate in the distribution of the transport vehicles;

When the number of circular shifting tasks is greater than n, if n is an even number, randomly select n/2 circular shifting tasks to participate in the distribution of trucks; if n is an odd number, randomly select (n-1)/2 circular shifting tasks Participate in the distribution of vans; and

S15-3: After all the circular shifting tasks are assigned, the unilateral shifting tasks are assigned to the idle trucks.
A storage system comprising:

Multiple storage points, each storage point has a heat attribute;

A plurality of shelves, distributed in the storage point, each shelf has a heat attribute;

trucks; and

A control device, the control device communicates with the transport vehicle, and is configured to know the position of the rack, and execute the rack shifting method according to any one of claims 1-13.
A computer-readable storage medium, comprising computer-executable instructions stored thereon, the executable instructions implement the shelf shifting method according to any one of claims 1-13 when executed by a processor.