Bypassing collision prevention optimization method of self-crawling type robot based storing system

Abstract

The invention relates to the technical field of warehousing design and discloses a bypassing collision prevention optimization method of a self-crawling type robot based storing system. The method ischaracterized by comprising the following steps: analyzing the warehouse-out operation of the self-crawling type robot to solve the average service time model of each stage during the warehouse-out operation procedure, according to the operating procedure of the self-crawling type robot, analyzing the operating stage, generating bypassing collision prevention, of the self-crawling type robot, establishing a resource bypassing based closed loop queuing network model by taking the self-crawling type robot as a customer and each operating stage as a service desk, and utilizing the skip iterationmean value algorithm to solve the resource bypassing based closed loop queuing network model. According to the bypassing collision prevention optimization method, the resource bypassing based closed loop queuing network model is adopted to precisely simulate the actual warehouse-out task process of the self-crawling type robot based storing system and the bypassing collision prevention of the self-crawling type robot.

Description

technical field [0001] The invention relates to the technical field of storage design, in particular to a detour and collision avoidance optimization method for a storage system based on a self-climbing robot. Background technique [0002] In the traditional automated three-dimensional warehouse, the shuttle car completes the storage and withdrawal of goods in a fixed lane, and with the assistance of the hoist, the shuttle car crosses floors and transports the goods to the work station. Typically, the throughput of the system is limited by the number of elevators. Therefore, the modeling of the traditional automated three-dimensional warehouse is only analyzed for the shuttle car and the hoist. [0003] With the advent of the era of small batches, multi-batches, and mass customization in the product order structure, the requirements for the parallelism and flexibility of the outbound operations of the automated warehousing system have increased. Storage systems based on se...

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Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a detour and collision avoidance optimization method based on the self-climbing robot storage system, which solves the problem that the modeling of the traditional automated three-dimensional warehouse only analyzes the shuttle car and the elevator, and does not Problems suitable for multi-device parallel complex mode of storage system based on self-climbing robot

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