Operation optimization method and system for automatic trolley storage and retrieval system

Abstract

The present invention provides an operation optimization method for an automatic trolley storage and retrieval system, comprising: obtaining parameters of the automatic trolley storage and retrieval system, wherein the parameters include system structure information, automatic trolley information, and operation information related to storage location allocation and operation scheduling; constructing a storage location allocation and operation scheduling joint optimization model for the operation lanes of the automatic trolley storage and retrieval system based on the parameters; utilizing the storage location allocation and operation scheduling joint optimization model to obtain a storage location allocation and operation scheduling strategy for the automatic trolley storage and retrieval system based on the operation information; and optimizing the operation area of ​​the automatic trolleys of the automatic trolley storage and retrieval system based on the storage location allocation and operation scheduling strategy. The present invention also provides an operation optimization system and electronic equipment for the automatic trolley storage and retrieval system.

Description

Technical Field

[0001] The present invention relates to the field of storage system control, and in particular to an operation optimization method, system and electronic equipment of an automatic trolley storage and retrieval system. Background Art

[0002] The automatic trolley storage and retrieval system is a new type of warehousing technology that mainly uses automatic trolleys to store and retrieve goods and transport them horizontally, and uses elevators to achieve vertical transportation. It has been widely used in e-commerce and manufacturing industries.

[0003] However, traditional storage allocation and job scheduling have the following problems: (1) The assumptions in strategy design are relatively simple and have a certain gap with the actual operation environment; in order to simplify the difficulty of solving the problem, it is assumed that the automatic carts are randomly assigned to handle the arrival operations, and there is no decision-making optimization for the allocation between the automatic carts and the operations; it is assumed that the storage location where the pickup operation is located cannot be used to store goods, resulting in a waste of storage space utilization. (2) The coordination efficiency of storage allocation and job scheduling is low; traditional research studies the job scheduling problem under some heuristic storage allocation strategies. This method lacks overall analysis and often only obtains poor solutions, reducing the operational efficiency of the entire system. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides an operation optimization method, system and electronic equipment for an automatic trolley storage and retrieval system.

[0005] According to one aspect of the present invention, there is provided an operation optimization method for an automatic trolley storage and retrieval system, comprising:

[0006] Obtaining parameters of the automatic trolley storage and retrieval system, wherein the parameters include system structure information related to storage space allocation and job scheduling, automatic trolley information, and job information;

[0007] Based on the parameters, a joint optimization model of storage allocation and operation scheduling is constructed for the operation lanes of the automatic trolley storage and retrieval system;

[0008] Using the joint optimization model of storage allocation and job scheduling, the storage allocation and job scheduling strategies of the automatic trolley storage and retrieval system are obtained according to job information;

[0009] According to the storage allocation and operation scheduling strategy, the operation area of ​​the automatic trolley of the automatic trolley storage and retrieval system is optimized.

[0010] According to an embodiment of the present invention, the above-mentioned system structure information includes lane quantity information, adjacent lane spacing information and storage position information; the automatic trolley information includes automatic trolley quantity information, automatic trolley speed information and automatic trolley storage and retrieval time information; the operation information includes inventory operation quantity information, inventory coordinate information, pickup operation quantity information and pickup coordinate information.

[0011] According to an embodiment of the present invention, the above-mentioned storage bit information is expressed by formula (1):

[0012]

[0013] Among them, n o is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, n r is the number of pickup operations.

[0014] According to an embodiment of the present invention, the joint optimization model of storage allocation and job scheduling is represented by (2):

[0015]

[0016] Among them, n o is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, n r is the number of pickup operations, c ij is the time to complete the job instruction (i, j), y ij is a binary decision variable that is equal to 1 when instruction (i, j) is completed and equal to 0 when (i, j) is not completed.

[0017] According to an embodiment of the present invention, the above-mentioned operation instructions include inventory instructions, pickup instructions, and storage and pickup instructions;

[0018] The inventory instruction indicates that the automatic vehicle transports the goods to the designated inventory location, releases the goods, and returns to the entrance and exit of the operation lane. The operation time to complete the inventory instruction is expressed by formula (3):

[0019]

[0020] The pickup instruction indicates that the automatic vehicle moves from the entrance and exit of the working lane to the designated pickup position, picks up the goods at the pickup position, and then returns to the entrance and exit of the working lane. The operation time to complete the pickup instruction is expressed by formula (4):

[0021]

[0022] The storage and retrieval instructions indicate that the automatic vehicle transports the goods to the designated storage location, releases the goods, moves to the retrieval location, picks up the goods, and returns to the entrance and exit of the operation lane. The operation time to complete the storage and retrieval instructions is expressed by formula (5):

[0023]

[0024] Among them, d i and d i Indicates the distance from the storage location of the automatic trolley access system to the entrance and exit of the working tunnel, v w Indicates the speed of the automatic trolley in the working lane, t p Indicates the time required for the automatic car to pick up and release a cargo.

[0025] According to an embodiment of the present invention, the above-mentioned joint optimization model of storage allocation and job scheduling is constrained by the conditions expressed by equations (6) to (10):

[0026]

[0027]

[0028]

[0029]

[0030]

[0031] Among them, n s represents the number of inventory operations on the operation lane, R represents the storage location set of the pickup operation, and R c It is a subset of R, and its size is represented by |R c | indicates that; constraint (6) ensures that each pickup operation must be executed; constraint (7) indicates that at most one inventory operation is selected to be paired with the pickup operation in one instruction; constraint (8) ensures that all inventory operations are completed; constraint (9) is the sub-loop elimination constraint; constraint (10) gives the binary decision variable y ij The value range of .

[0032] According to an embodiment of the present invention, the above-mentioned acquisition of the storage location allocation and operation scheduling strategy of the automatic trolley storage and retrieval system includes:

[0033] When the number of inventory operations is less than or equal to the number of picking operations, the difference between the number of inventory operations and the number of picking operations is calculated, and the picking instruction is executed. When the number of picking instructions reaches the difference, the storage and picking instructions are executed to obtain the storage location allocation and operation scheduling strategy;

[0034] When the number of inventory operations is greater than the number of picking operations, select the empty storage position of the inventory operation number and use the Hungarian algorithm to plan the operation instructions. When there is a sub-loop in the planning, replace the new storage position with the minimum storage position number in the sub-loop, and plan based on the inventory operation number being less than or equal to the picking operation number to obtain the storage position allocation and operation scheduling strategy.

[0035] According to an embodiment of the present invention, the above-mentioned optimization of the operation area of ​​the automatic trolley of the automatic trolley access system includes optimizing the operation area of ​​the automatic trolley using a dynamic programming model; wherein the above-mentioned dynamic programming model is expressed by equations (11) to (13):

[0036]

[0037]

[0038]

[0039] Among them, f zr represents the target value of the state (z, r), c zjr The state transition equation from state (z-1, j) to state (z, r); state (z, r) indicates that the rightmost lane index of region z is r; t s It indicates the time it takes for the automatic trolley to move from one working lane to the adjacent working lane.

[0040] According to an embodiment of the present invention, the above-mentioned job optimization method uses relative job completion time as a measurement indicator; wherein the relative job completion time is expressed by formula (14):

[0041]

[0042] Among them, M(P) represents the total completion time of the job obtained by empirical decision-making, and M(C) is the total completion time of the job obtained according to the above method.

[0043] According to another aspect of the present invention, there is provided an operation optimization system for an automatic trolley storage and retrieval system, comprising:

[0044] A first acquisition module is used to acquire parameters of the automatic trolley storage and retrieval system, wherein the parameters include system structure information related to storage space allocation and operation scheduling, automatic trolley information, and operation information;

[0045] A construction module is used to construct a joint optimization model of storage allocation and operation scheduling for the operation lanes of the automatic trolley storage and retrieval system based on parameters;

[0046] The second acquisition module is used to obtain the storage allocation and operation scheduling strategy of the automatic trolley storage and retrieval system based on the operation information by using the storage allocation and operation scheduling joint optimization model;

[0047] The optimization module is used to optimize the operating area of ​​the automatic trolley of the automatic trolley storage and retrieval system according to the storage location allocation and operation scheduling strategy.

[0048] According to an embodiment of the present invention, there is provided an electronic device, including:

[0049] one or more processors;

[0050] a storage device for storing one or more programs,

[0051] When the one or more programs are executed by the one or more processors, the one or more processors execute the above method.

[0052] The operation optimization method for an automated cart access system provided by the present invention can rationally arrange the order in which automated carts complete access operations and the allocation of storage locations for inventory operations, saving operation time and achieving high throughput compared to existing technologies. Furthermore, the optimization method provided by the present invention can ensure that automated cart paths do not conflict, increasing system flexibility and reducing system operating costs. The operation optimization system for an automated cart access system provided by the present invention can improve the responsiveness of the supply chain and enhance the efficiency of the automated cart access system's picking operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A flowchart of an operation optimization method for an automatic trolley storage and retrieval system according to an embodiment of the present invention is schematically shown;

[0054] Figure 2 is a schematic diagram of dynamic programming according to an embodiment of the present invention;

[0055] Figure 3 A schematic diagram illustrating a structure of an operation optimization system for an automatic trolley storage and retrieval system according to an embodiment of the present invention is shown;

[0056] Figure 4 The following schematically shows a block diagram of an electronic device suitable for implementing an operation optimization method for an automatic trolley storage and retrieval system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0058] In each layer of the automatic cart storage and retrieval system, the automatic cart can move across aisles through cross-channels, improving the system's storage capacity, stability, and flexibility. However, this may cause conflicts in the movement paths of the automatic carts, increasing the time it takes to store and retrieve goods. In order to improve the efficiency of the system's operation, it is necessary to improve and optimize the allocation of goods and storage locations. In addition to reducing the cost of goods inventory, it also facilitates the rapid storage and picking of goods by the automatic carts. Secondly, adopting a reasonable job scheduling strategy is an effective means to improve the system's throughput performance, which can directly improve the system's picking efficiency. Finally, by reasonably partitioning the aisles so that there is only one automatic cart in each area, and the automatic cart only completes the operations in the assigned area, it ensures that the movement paths of the automatic carts do not conflict, thereby improving the responsiveness of the supply chain.

[0059] Figure 1 A flowchart of an operation optimization method for an automatic trolley storage and retrieval system according to an embodiment of the present invention is schematically shown.

[0060] like Figure 1 As shown, the job optimization method of this embodiment includes operations S110 to S140.

[0061] In operation S110, parameters of the automatic trolley access system are obtained, wherein the parameters include system structure information related to storage space allocation and job scheduling, automatic trolley information, and job information;

[0062] In operation S120 , a joint optimization model of storage space allocation and operation scheduling is constructed for the operation lane of the automatic trolley storage and retrieval system based on the parameters;

[0063] The operating aisles include picking aisles. By building an optimization model for each picking aisle, the optimal operating time of each picking aisle is found.

[0064] In operation S130, a storage location allocation and job scheduling joint optimization model is used to obtain a storage location allocation and job scheduling strategy for the automatic trolley storage and retrieval system based on job information;

[0065] The operation information includes the relative numbers of inventory operations and picking operations in each picking aisle in the above-mentioned operation aisles. Using these numbers of inventory and picking operations, the storage location allocation and operation scheduling strategies on each picking aisle are obtained through a joint optimization model of storage location allocation and operation scheduling.

[0066] In operation S140, the operating area of ​​the automatic trolley of the automatic trolley storage and retrieval system is optimized according to the storage location allocation and operation scheduling strategy.

[0067] Using the storage location allocation and job scheduling strategy obtained in operation S130, a dynamic programming algorithm is designed to quickly determine the lane area that each automatic trolley in the automatic trolley storage and retrieval system is responsible for, so that the total operation time of the automatic trolley in the entire automatic trolley storage and retrieval system is minimized.

[0068] By utilizing the above-mentioned operation optimization method, the overall operation efficiency of the automatic trolley storage and retrieval system can be improved, the total operation time of the automatic trolley storage and retrieval system can be reduced, thereby effectively reducing costs.

[0069] According to an embodiment of the present invention, the above-mentioned system structure information includes lane quantity information, adjacent lane spacing information and storage position information; the automatic trolley information includes automatic trolley quantity information, automatic trolley speed information and automatic trolley storage and retrieval time information; the operation information includes inventory operation quantity information, inventory coordinate information, pickup operation quantity information and pickup coordinate information.

[0070] The above-mentioned storage location information includes the coordinate information of the empty storage location, that is, the location of the aisle where the empty storage location is located; the above-mentioned automatic trolley speed information includes the speed of the automatic trolley in the aisle and cross-channel; the above-mentioned automatic trolley cargo storage and retrieval time information includes the time required for the automatic trolley to pick up and release a cargo.

[0071] According to an embodiment of the present invention, the above-mentioned storage bit information is expressed by formula (1):

[0072]

[0073] Among them, n o is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, n r is the number of pickup operations.

[0074] By defining the above storage location information, the automatic vehicle operation instructions can be combined with the storage location information, which facilitates the storage location allocation and operation scheduling joint optimization model to process data.

[0075] According to an embodiment of the present invention, the joint optimization model of storage allocation and job scheduling is represented by (2):

[0076]

[0077] Among them, n o is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, n r is the number of pickup operations, c ij is the time to complete the job instruction (i, j), y ij is a binary decision variable that is equal to 1 when instruction (i, j) is completed and equal to 0 when (i, j) is not completed.

[0078] The above-mentioned joint optimization model of storage location allocation and operation scheduling aims to find the minimum operation time of each operation lane, namely the picking lane, in the automatic trolley storage and retrieval system; when the operation time of each picking lane finds the minimum value of the operation time, the operation time of the entire automatic trolley storage and retrieval system will be minimized, thereby improving the overall operation efficiency.

[0079] According to an embodiment of the present invention, the above-mentioned operation instructions include inventory instructions, pickup instructions, and storage and pickup instructions;

[0080] The inventory instruction indicates that the automatic vehicle transports the goods to the designated inventory location, releases the goods, and returns to the entrance and exit of the operation lane. The operation time to complete the inventory instruction is expressed by formula (3):

[0081]

[0082] The above inventory instruction indicates that the automatic car only performs inventory operations, represented by (i, 0), c i0 Indicates the time required to complete the inventory instruction, that is, the automatic trolley picks up the goods to be stored and moves to the storage location l i , the total time spent returning to the import and export after dropping off stored goods.

[0083] The pickup instruction indicates that the automatic vehicle moves from the entrance and exit of the working lane to the designated pickup position, picks up the goods at the pickup position, and then returns to the entrance and exit of the working lane. The operation time to complete the pickup instruction is expressed by formula (4):

[0084]

[0085] The above pickup instruction indicates that the automatic car only performs the pickup operation, represented by (0, i), c 0i Indicates the time required to complete the pickup instruction, that is, the time it takes for the automatic trolley to move from the entrance to the storage location l i , then pick up the goods and transport them to the entrance and exit. According to the above definition of storage location information, we can know that d0=0 means that the automatic trolley is located at the entrance and exit of the working lane.

[0086] The storage and retrieval instructions indicate that the automatic vehicle transports the goods to the designated storage location, releases the goods, moves to the retrieval location, picks up the goods, and returns to the entrance and exit of the operation lane. The operation time to complete the storage and retrieval instructions is expressed by formula (5):

[0087]

[0088] The deposit and withdrawal instructions are double instructions, represented by (i, j), c ij Indicates the time required to complete the order of loading and unloading goods, that is, the time required for the automatic car to obtain the stored goods and transport them to the storage location l i, then move to storage location l i , pick up the goods to be picked up and deliver them to the import and export.

[0089] In the above formulas (3), (4) and (5), d i and d j Indicates the distance from the storage location of the automatic trolley access system to the entrance and exit of the working tunnel, v w Indicates the speed of the automatic trolley in the working lane, t p Indicates the time required for the automatic car to pick up and release a cargo.

[0090] Through the above formula, the operation instructions of the automatic trolley storage and retrieval system can be classified, so as to more clearly understand the types of operations in the automatic trolley storage and retrieval system; on this basis, the operation mode of the automatic trolley and the time to complete the operation can be clearly calculated, providing a solid theoretical foundation for subsequent operation optimization.

[0091] According to an embodiment of the present invention, the above-mentioned joint optimization model of storage allocation and job scheduling is constrained by the conditions expressed by equations (6) to (10):

[0092]

[0093]

[0094]

[0095]

[0096]

[0097] Among them, n s represents the number of inventory operations on the operation lane, R represents the storage location set of the pickup operation, and R c It is a subset of R, and its size is represented by |R c | indicates that; constraint (6) ensures that each pickup operation must be executed; constraint (7) indicates that at most one inventory operation is selected to be paired with the pickup operation in one instruction; constraint (8) ensures that all inventory operations are completed; constraint (9) is the sub-loop elimination constraint; constraint (10) gives the binary decision variable y ij The value range of .

[0098] According to an embodiment of the present invention, the above-mentioned acquisition of the storage location allocation and operation scheduling strategy of the automatic trolley storage and retrieval system includes:

[0099] When the number of inventory operations is less than or equal to the number of picking operations, the difference between the number of inventory operations and the number of picking operations is calculated, and the picking instruction is executed. When the number of picking instructions reaches the difference, the storage and picking instructions are executed to obtain the storage location allocation and operation scheduling strategy;

[0100] When the number of inventory operations is greater than the number of picking operations, select the empty storage position of the inventory operation number and use the Hungarian algorithm to plan the operation instructions. When there is a sub-loop in the planning, replace the new storage position with the minimum storage position number in the sub-loop, and plan based on the inventory operation number being less than or equal to the picking operation number to obtain the storage position allocation and operation scheduling strategy.

[0101] The process of obtaining the storage location allocation and job scheduling strategy described above can be understood as representing the solution to the storage location allocation and job scheduling as a sequence of instructions for processing jobs. For example, an automated cart is assigned two inventory operations and two pickup operations, with the pickup operations located in storage locations l1 and l2, and the initial empty storage location is l3. A feasible solution is for the automated cart to first deposit the stored goods in storage location l3, then complete the pickup operation at storage location 1_1, then deposit the stored goods in storage location l1, and then complete the pickup operation at storage location l2. The corresponding instruction sequence for processing jobs for this solution is [(3, 1), (1, 2)].

[0102] When the inventory operation quantity is less than the pickup operation quantity, that is, n s <n r , the instruction sequence of the processing job [(0, 1), (0, 2) ..., (0, n r -n s ), (n r -n s , n r -n s +1), (n r -n s +1,n r -n s +2),...,(n r -1,n r )] is the optimal solution;

[0103] When the inventory operation quantity is equal to the pickup operation quantity, that is, n s =n r ,if Then the instruction sequence for processing the job [(n r +1,1),(1,2),...,(n r -1,n r )] is the optimal solution; if Then the instruction sequence for processing the job [(0, 1), (1, 2), ..., (n r -1,n r ), (nr ,0)] is the optimal solution;

[0104] When the inventory operation quantity is greater than the pickup operation quantity, that is, n s >n r , use the Hungarian algorithm to solve the joint optimization model of storage allocation and job scheduling without constraint (9). If there is no sub-loop, the solution is the optimal solution. If there is a sub-loop, determine the candidate storage location set U for inventory storage; the number of U is min(n s , n o )-n s +n r , enumerated as follows: the first n s -n r Initial empty storage locations and the first n r Pick-up operation storage location; front (n s -n r +1) initial empty storage location and the first (n r -1) pickup operation storage space, and so on; finally, the first min(n s , n o ) initial empty storage locations and the first (n s -min(n s , n o )) pickup operation storage locations, where the pickup operations and the initial empty storage locations are sorted in ascending order according to the distance from the import and export; for each set U, solve the storage location allocation and job scheduling joint optimization model without constraint (9), and divide the solutions into three groups: G1, G2 and G3, where G1 is the set of all sub-loops; G2 is the set of chains whose last element is 0; G3 is the set of chains whose last element is the storage location where the pickup operation is located; if 61 is an empty set, take the solution as the optimal solution corresponding to U; if G1 is not an empty set, for i from 0 to |G1|, select the chain with the largest second-to-last element from G2 to merge the first i sub-loops, and select the chain with the smallest element of the first two elements from G3 to merge the remaining sub-loops; return the minimum value as the optimal solution corresponding to U; return the minimum value of all the optimal solutions corresponding to U as the optimal solution for the instruction sequence of processing jobs, which is when n s >n r Optimal storage allocation and job scheduling strategy.

[0105] According to an embodiment of the present invention, the above-mentioned optimization of the operation area of ​​the automatic trolley of the automatic trolley access system includes optimizing the operation area of ​​the automatic trolley using a dynamic programming model; wherein the above-mentioned dynamic programming model is expressed by equations (11) to (13):

[0106]

[0107]

[0108]

[0109] Among them, f zr represents the target value of the state (z, r), c zjr The state transition equation from state (z-1, j) to state (z, r); state (z, r) indicates that the rightmost lane index of region z is r; t s It indicates the time it takes for the automatic trolley to move from one working lane to the adjacent working lane.

[0110] In the above z=1, ..., v represents the working area or an automatic cart (because the number of working areas is equal to the number of carts), and v represents the number of automatic carts; for the above dynamic programming model, the inverse solution method is used to find the lane area that each automatic cart is responsible for.

[0111] Figure 2 This is a schematic diagram of dynamic programming according to an embodiment of the present invention. Figure 2 The above method is further explained.

[0112] In an automatic trolley storage and retrieval system with 5 lanes and 3 automatic trolleys, the time it takes for the automatic trolley to complete the operation in each lane is 18, 20, 28, 12 and 34 respectively. The time it takes for the automatic trolley to move from one lane to the adjacent lane is t s = 3. The automatic trolleys are numbered from left to right from 1 to 3. Figure 2 The paths corresponding to the optimal solutions are shown in bold. In the optimal solution, trolley 1 is responsible for lanes 1 to 2, trolley 2 is responsible for lanes 3 and 4, and trolley 3 is responsible for lane 5. The total completion time is 43 seconds.

[0113] According to an embodiment of the present invention, the above-mentioned job optimization method uses relative job completion time as a measurement indicator; wherein the relative job completion time is expressed by formula (14):

[0114]

[0115] Wherein, M(P) represents the total completion time of the job obtained by empirical decision-making, and M(C) is the total completion time of the job obtained according to the above method of the embodiment of the present invention.

[0116] In order to more intuitively demonstrate that the present invention reduces the operating time in the automatic trolley access system, in this embodiment, an example is selected from an automatic trolley access system in a certain place. The empirical decision-making currently adopted by the automatic trolley access system in a certain place is as follows: the access operations in each lane are carried out in the order of first come first served, and the inventory operation selects the empty storage location closest to the entrance and exit for storage. Then, the area is divided according to the standard that each area has the same number of lanes. The embodiment of the present invention selects the percentage difference between the operation completion time of the empirical decision-making and the method proposed by the present invention as the measurement indicator, as shown in formula (14): Where M(P) and M(C) represent the total completion time of the job obtained by the empirical decision-making method and the method proposed in this invention, respectively. Table 1 shows the relative completion time of the job:

[0117] Table 1

[0118] |O| M(P) M(C) Δ(%) 50 407 369 9.33 100 728 645 11.40 200 1273 1140 10.45 500 2349 1867 20.52

[0119] Note: |O| represents the number of jobs.

[0120] As can be seen from Table 1, the method proposed in the present invention performs better than the empirical decision-making in real applications, greatly reduces the service time, and improves the system operation efficiency.

[0121] Figure 3 The structure diagram of the operation optimization system for the automatic trolley storage and retrieval system according to an embodiment of the present invention is schematically shown.

[0122] like Figure 3 As shown, the job optimization system 300 of this embodiment includes a first acquisition module 310 , a construction module 320 , a second acquisition module 330 and an optimization module 340 .

[0123] A first acquisition module 310 is used to acquire parameters of the automatic trolley access system, wherein the parameters include system structure information related to storage space allocation and job scheduling, automatic trolley information, and job information;

[0124] A construction module 320 is used to construct a joint optimization model of storage space allocation and operation scheduling for the operation lane of the automatic trolley storage and retrieval system based on the parameters;

[0125] The second acquisition module 330 is used to obtain the storage allocation and operation scheduling strategy of the automatic trolley storage and retrieval system based on the operation information using the storage allocation and operation scheduling joint optimization model;

[0126] The optimization module 340 is used to optimize the operation area of ​​the automatic trolley of the automatic trolley storage and retrieval system according to the storage location allocation and operation scheduling strategy.

[0127] By utilizing the above-mentioned operation optimization system, the automatic trolley storage and retrieval system can obtain the optimal operation sequence, thereby greatly reducing the operation time, improving the operation efficiency, and further reducing the operation cost of the entire automatic trolley storage and retrieval system.

[0128] Figure 4 The block diagram of an electronic device suitable for implementing an operation optimization method for an automatic trolley storage and retrieval system according to an embodiment of the present invention is schematically shown.

[0129] like Figure 4 As shown, the electronic device 400 according to an embodiment of the present invention includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 903. The processor 401 may, for example, include a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include an onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0130] Various programs and data required for the operation of the electronic device 400 are stored in the RAM 403. The processor 401, ROM 402, and RAM 403 are connected to each other via a bus 404. The processor 401 executes the various operations of the method flow according to the embodiment of the present disclosure by executing the programs in the ROM 402 and / or RAM 403. It should be noted that the programs may also be stored in one or more memories other than the ROM 402 and RAM 403. The processor 401 may also execute the various operations of the method flow according to the embodiment of the present disclosure by executing the programs stored in the one or more memories.

[0131] According to an embodiment of the present invention, electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to bus 404. Electronic device 400 may further include one or more of the following components connected to I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or a modem. Communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed in drive 410 as needed, so that computer programs read from the removable media can be installed into storage section 408 as needed.

[0132] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An operation optimization method for an automatic trolley storage and retrieval system, comprising: Acquiring parameters of the automatic trolley access system, wherein the parameters include system structure information related to storage space allocation and job scheduling, automatic trolley information, and job information; Based on the parameters, a storage space allocation and operation scheduling joint optimization model is constructed for the operating lanes of the automatic trolley storage and retrieval system, wherein the storage space allocation and operation scheduling joint optimization model is used to obtain the minimum operation time of each operating lane in the automatic trolley storage and retrieval system; Utilizing the storage space allocation and job scheduling joint optimization model, and according to the job information, obtaining the storage space allocation and job scheduling strategy of the automatic trolley storage and retrieval system; Optimize the operating area of ​​the automatic trolley of the automatic trolley storage and retrieval system according to the storage location allocation and operation scheduling strategy; wherein the system structure information includes the number of lanes, the spacing between adjacent lanes, and storage location information; the automatic trolley information includes the number of automatic trolleys, the speed of automatic trolleys, and the time information for storing and retrieving goods by automatic trolleys; and the operation information includes the number of inventory operations, inventory coordinate information, the number of retrieval operations, and the coordinate information for retrieval; The step of obtaining the storage location allocation and operation scheduling strategy of the automatic trolley access system includes: When the number of inventory operations is less than or equal to the number of picking operations, the difference between the number of inventory operations and the number of picking operations is calculated, and a picking instruction is executed. When the number of picking instructions reaches the difference, the storage and picking instructions are executed to obtain the storage location allocation and operation scheduling strategy; When the number of inventory operations is greater than the number of pickup operations, select an empty storage location for the number of inventory operations and use the Hungarian algorithm to plan the operation instructions. If a sub-loop exists in the plan, replace the minimum storage location number in the sub-loop with a new storage location. Plan the operation based on the number of inventory operations being less than or equal to the number of pickup operations to obtain the storage location allocation and operation scheduling strategy. The storage bit information is expressed by formula (1): （1）， in, is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, is the number of pickup operations; The joint optimization model of storage allocation and job scheduling is represented by (2): （2）， in, is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, is the number of pickup operations, Is to complete the work instruction time, is a binary decision variable. When completed, it is equal to 1. When not completed, it is equal to 0; The optimization of the operating area of ​​the automatic trolley of the automatic trolley access system includes optimizing the operating area of ​​the automatic trolley using a dynamic programming model; wherein the dynamic programming model is represented by equations (11) to (13): （11）， （12）， （13）， in, Indicates status The target value, Status Transfer to state state transition equation; state Indicates area The rightmost lane indicator is ; It represents the time it takes for the automatic trolley to move from one working lane to the adjacent working lane.

2. The method according to claim 1, wherein The operation instructions include inventory instructions, pickup instructions and storage and retrieval instructions; The inventory instruction indicates that the automatic vehicle transports the goods to the designated inventory location, releases the goods, and returns to the entrance and exit of the operation lane. The operation time to complete the inventory instruction is expressed by formula (3): （3）， The pickup instruction indicates that the automatic vehicle moves from the entrance and exit of the operation lane to the designated pickup position, picks up the goods on the pickup position, and then returns to the entrance and exit of the operation lane. The operation time to complete the pickup instruction is expressed by formula (4): （4）， The storage and retrieval instructions indicate that the automatic vehicle transports the goods to the designated storage location, releases the goods, moves to the retrieval location, picks up the goods, and returns to the entrance and exit of the operation lane. The operation time to complete the storage and retrieval instructions is expressed by formula (5): （5）， in, and Indicates the distance from the storage location of the automatic trolley access system to the entrance and exit of the working tunnel, Indicates the speed of the automatic trolley in the working lane, Indicates the time required for the automatic vehicle to pick up and release a piece of cargo.

3. The method according to claim 1, wherein The joint optimization model of storage allocation and job scheduling is constrained by the conditions expressed by equations (6) to (10): （6）， （7）， （8）， （9）， （10）， in, Indicates the number of inventory operations on the operation lane, represents the storage location set for the pickup operation, yes A subset of Represents; Constraint (6) ensures that each pickup operation must be executed; Constraint (7) indicates that at most one inventory operation is selected to be paired with the pickup operation in one instruction; Constraint (8) ensures that all inventory operations are completed; Constraint (9) eliminates the constraint for the sub-loop; Constraint (10) gives the binary decision variables The value range of .

4. The method according to claim 1, wherein The job optimization method uses relative job completion time as a measurement indicator; wherein the relative job completion time is expressed by formula (14): （14）， in, represents the total completion time of the job obtained by empirical decision-making, It is the total completion time of the job obtained according to any method of claims 1-3.

5. An operation optimization system for an automatic trolley storage and retrieval system, comprising: A first acquisition module is used to acquire parameters of the automatic trolley access system, wherein the parameters include system structure information related to storage space allocation and operation scheduling, automatic trolley information and operation information; a construction module, configured to construct a joint optimization model of storage space allocation and operation scheduling for the operating lanes of the automatic trolley storage and retrieval system based on the parameters, wherein the joint optimization model of storage space allocation and operation scheduling is used to obtain a minimum operation time for each operating lane of the automatic trolley storage and retrieval system; A second acquisition module is used to obtain the storage location allocation and operation scheduling strategy of the automatic trolley storage and retrieval system according to the operation information using the storage location allocation and operation scheduling joint optimization model; An optimization module, configured to optimize the operating area of ​​the automatic trolley of the automatic trolley storage and retrieval system according to the storage location allocation and operation scheduling strategy; The system structure information includes lane quantity information, adjacent lane spacing information, and storage location information; the automatic trolley information includes automatic trolley quantity information, automatic trolley speed information, and automatic trolley cargo storage and retrieval time information; the operation information includes inventory operation quantity information, inventory coordinate information, pickup operation quantity information, and pickup coordinate information; The step of obtaining the storage location allocation and operation scheduling strategy of the automatic trolley access system includes: When the number of inventory operations is less than or equal to the number of picking operations, the difference between the number of inventory operations and the number of picking operations is calculated, and a picking instruction is executed. When the number of picking instructions reaches the difference, the storage and picking instructions are executed to obtain the storage location allocation and operation scheduling strategy; When the number of inventory operations is greater than the number of pickup operations, select an empty storage location for the number of inventory operations and use the Hungarian algorithm to plan the operation instructions. If a sub-loop exists in the plan, replace the minimum storage location number in the sub-loop with a new storage location. Plan the operation based on the number of inventory operations being less than or equal to the number of pickup operations to obtain the storage location allocation and operation scheduling strategy. The storage bit information is expressed by formula (1): （1）， in, is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, is the number of pickup operations; The joint optimization model of storage allocation and job scheduling is represented by (2): （2）， in, is the number of initial empty storage locations on the operating lane of the automatic trolley storage and retrieval system, is the number of pickup operations, Is to complete the work instruction time, is a binary decision variable. When completed, it is equal to 1. When not completed, it is equal to 0; The optimization of the operating area of ​​the automatic trolley of the automatic trolley access system includes optimizing the operating area of ​​the automatic trolley using a dynamic programming model; wherein the dynamic programming model is represented by equations (11) to (13): （11）， （12）， （13）， in, Indicates status The target value, Status Transfer to state state transition equation; state Indicates area The rightmost lane indicator is ; It represents the time it takes for the automatic trolley to move from one working lane to the adjacent working lane.

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